GPS/INS组合导航系统设计及实现方案  

The Design and Realizing Scheme of GPS/INS Combined Navigation System

作　　者：张男[1] 王莹[1] 张尔扬[1] 

机构地区：[1]国防科技大学电子工程与科技学院,湖南长沙410073

出　　处：《遥感技术与应用》2002年第2期70-73,共4页Remote Sensing Technology and Application

摘　　要：将两种或多种导航系统 (或传感器 )组合起来成为一个综合系统 ,其导航性能比单一的系统好 ,因此组合导航系统目前已成为导航系统的发展方向之一。现代控制理论的成就 ,特别是最优估计理论的数据处理方法 ,为组合导航系统提供了理论基础。介绍了 GPS/ INS组合导航系统的经典组合方式和采用卡尔曼组合滤波器的组合方式。重点对采用卡尔曼滤波的软件组合方式进行分析和推导 ,将全组合滤波法和分布式组合滤波法进行了较全面的比较。The combined navigation system has been among the main trends of the navigation system development because of its much better performance compared with the single navigation system. The achievements on the theory in the modern control field including the data processing manners of optimizing estimation theory has provided the basis for the realization of the combined navigation system. In this article, a method using Kalman combined filter as well as a classical combination method is introduced. And a comprehensive comparison is made between the all\|combined filtering method and the distributed combined filtering method in which we keep our emphasis on the analysis and deduction of different combination manners of Kalman filter used in the software we produced.

关 键 词：组合导航系统 设计 GPS INS 卡尔曼滤波 

分 类 号：TN967.1[电子电信—信号与信息处理]