GPS/SINS综合定位系统仿真实验研究  

Simulation Research on Integrated Positioning System

作　　者：杜尚丰[1] 宫晓琳[1] 

机构地区：[1]中国农业大学,北京100083

出　　处：《仪器仪表学报》2005年第z1期425-426,共2页Chinese Journal of Scientific Instrument

摘　　要：设计了一个基于位置/速度组合的集中卡尔曼滤波器,整合来自所有传感器的数据以提供精确的和可靠的定位数据分别对GPS和SINS进行误差分析并建立相应的误差模型。运用卡尔曼滤波对系统误差进行最优估计,将校正后的SINS数据作为综合定位系统的输出。为验证论文中采用的整合方法和数据融合算法的有效性,对GPS/SINS综合定位系统进行了计算机仿真。仿真结果表明该GPS/SINS位置/速度组合可以提高系统精度,特别是位置和速度的精度有明显的提高。A centralized Kalman filter based on position-velocity model was designed to integrate data from all sensors to provide accurate and robust vehicle positioning data. Analyzing respectively the subsystems and establishing the error pattern of them, the optimal filter technology(Kalman filter) was used to estimate the error and the SINS was corrected by the optimal error. In order to prove the availability of the integrated method and data fusion algorithm, the GPS/SINS integrated positioning system was simulated on the computer. The result of the simulation drew a conclusion that GPS/SINS position-velocity integration can greatly enhance the precision of the positioning system, obviously raise the precision of location and speed.

关 键 词：综合定位系统 卡尔曼滤波 捷联惯性导航系统 GPS 

分 类 号：TH7-55[机械工程—仪器科学与技术]