紧耦合导航系统中的GDOP估算方法  

GDOP Estimation Method in Tightly Coupled Integrated Navigation System

作　　者：霍国平[1,2] 缪玲娟[1] 赵洪松[1] 

机构地区：[1]北京理工大学自动化学院,北京100081 [2]清华大学信息技术研究院,北京100084

出　　处：《北京理工大学学报》2014年第8期831-835,共5页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(61153002)

摘　　要：提出一种针对低成本GPS/SINS(global positioning system/strap-down inertial navigation system)紧耦合导航系统的快速选星方法,充分利用SINS的输出估算几何精度因子(GDOP),避免大量迭代带来的时间消耗,在卫星失锁后或星座分布发生变化时实现快速选星;并在该方法的基础上设计并实现紧耦合导航系统中量测噪声方差阵的在线修正,提高了组合导航系统滤波估计的精度.试验结果表明,本文方法弥补了传统GPS/SINS紧耦合导航系统中选星时间消耗代价过大、收敛精度较低的问题,并可相应降低设备成本.A fast constellation selection method was proposed for the low-cost, GPS/SINS （global positioning system/strap-clown inertial navigation system） tightly coupled navigation system. To avoid much time-consuming numerical iteration when GPS satellites in the condition of raissing lock or constellation geometric distribution changed, geometric dilution of precision（GDOP） estimation carried out taking full advantage of SINS＇s information. Besides, according to this method, a way of on-line correction to variance covariance matrix of measurement noise has been designed for the tightly coupled integrated navigation system. The result of experiments shows that the proposed method really reduces the number of time-consuming in the procedure of constellation selections, increases accuracy in integrated navigation system, and reduces equipment costs accordingly.

关 键 词：组合导航 卡尔曼滤波 几何精度因子 星座选择 

分 类 号：V211[航空宇航科学与技术—航空宇航推进理论与工程]