基于扩展卡尔曼滤波器的超紧耦合GPS/INS组合导航系统设计  

System Design of Extended Kalman Filter-Based Ultra-Tightly Coupled GPS/INS Integration

作　　者：孙熙[1] 祖峰[2] 李夏苗[1] 

机构地区：[1]中南大学交通运输工程学院 [2]93320部队通信营

出　　处：《微电子学与计算机》2008年第6期22-25,共4页Microelectronics & Computer

基　　金：国家自然科学基金项目(50378091)

摘　　要：提出了一种组合导航设计方案,通过将滤波器得到的多普勒频移信号反馈给GPS接收机跟踪环,实现了超紧耦合,提高了组合导航系统在高动态和干扰条件下的性能.采用了非线性动态模型并对其进行了线性化,提高了导航精度并减小系统计算量;应用用一阶高斯马尔可夫模型描述不同的惯性传感器误差,最后给出了扩展卡尔曼滤波器的具体算法.Integration navigation is presented. The performance of integrated navigation system in terms of high dynamics and interference is improved because Doppler shift frequency which is the output of Kalman filter is sent to GPS tracking loop. The nonlinear model which is simplified to liner model is used to improve the system accuracy and reduce the computing load. The first Gauss- Markov process is used to describe different inertial sensor errors. Finally, the equations for EKF are given.

关 键 词：组合导航 扩展卡尔曼滤波 全球定位系统 惯性导航系统 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]