SPKF滤波算法在紧耦合GPS/INS组合导航系统中的应用  

Application of SPKF Algorithm for Tightly-coupled GPS/INS Integrated Navigation System

作　　者：聂琦 赵琳[1] 奔粤阳[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《弹箭与制导学报》2007年第1期1-4,9,共5页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：国家自然科学基金资助(60474046)

摘　　要：根据SPKF滤波理论,建立捷联惯导系统在地理坐标系中的误差方程和GPS导航定位的误差模型,设计了GPS/INS的SPKF滤波器。该系统中含有位置误差、速度误差、平台误差角、陀螺漂移、加速度计偏差等17维状态。利用伪距、伪距率的观测信息对全部状态进行观测。对组合导航系统进行了动态仿真,仿真结果表明系统估计状态的导航精度高,系统的鲁棒性好。According to the SPKF filter theory, this paper research on tightly-coupled GPS/INS integrated navigation system , which has 17 state of position error, velocity error, misalignment, gyro bias, accelerator bias. INS error equa- tions projected in geographic coordinate and GPS error model are established, and SPKF filter model of GPS/INS is designed. Computer simulation results show that navigation accuracy is improved greatly, and the robust of system shows goodness.

关 键 词：GPS/INS组合导航 紧耦合 SPKF滤波 导航精度 

分 类 号：V249.328[航空宇航科学与技术—飞行器设计]