零速修正在GNSS/INS组合导航中的应用  

The Application of Zero-Velocity Update in the GNSS/INS Integrated Navigation

作　　者：徐海鑫[1] 孙付平[1] 刘帅[1] 苗岳旺 石晶[3] 

机构地区：[1]信息工程大学,河南郑州450001 [2]西安测绘总站,陕西西安710054 [3]河南省基础地理信息中心,河南郑州450003

出　　处：《全球定位系统》2014年第4期42-45,共4页Gnss World of China

基　　金：国家自然科学基金(批准号:41374027)

摘　　要：探讨了零速修正在GNSS/INS组合导航中的应用。给出了GNSS/INS松组合的数学模型,针对载体的静止状态,设计了两种零速修正方式并给出了相应的量测方程,对实测数据以不同的实验方案进行解算和分析,实验表明:同时使用零速修正和GNSS位置、速度观测值时,可以显著提高载体处于静止状态时的速度精度;只使用零速修正和GNSS速度观测值时,又可以提高载体处于静止状态时的位置精度;但零速修正对姿态精度的改进不明显。This paper studies the application of zero-velocity update （zupt） in GNSS/INS Integrated Navigation. First the mathematical model of GNSS/INS loosely coupled integrations is given. In view of the stationary state of the vehicle, we design two kinds of zupt mode, present the corresponding measurement equation, calculate, and analyze the measured data in different experimental program. Experiments show that, using the zupt and GNSS position and velocity measurements at the same time, can significantly improve the speed accuracy of the vehicle in stationary state; using the zupt and GNSS velocity measurements, can improve the position accuracy of the vehicle in stationary state; but zupt on the accuracy of attitude improvement is not obvious.

关 键 词：NSS/INS松组合 零速修正 卡尔曼滤波 

分 类 号：P228.4[天文地球—大地测量学与测量工程]