零角度修正在GNSS/INS组合导航中的应用  

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

作　　者：徐海鑫[1] 孙付平[1] 潘文超[1] 刘帅[1] 门葆红[1] 

机构地区：[1]信息工程大学,河南郑州450001

出　　处：《测绘科学技术学报》2015年第6期570-573,共4页Journal of Geomatics Science and Technology

基　　金：国家自然科学基金项目(41374027)

摘　　要：研究了静止条件下零角度修正在GNSS/INS组合导航中的应用。分析了静止条件下载体航向角解算漂移的原因,给出零角度修正的具体表达式。通过更改卡尔曼滤波量测方程的方法实现航向角误差修正,并用实测数据进行实验验证。结果表明,在静止条件下单独使用零角度修正可以提高载体的航向角精度,并利于垂向陀螺零偏的估计;在零角度修正基础上结合零速修正技术,航向角精度可以进一步改善。The application of zero-angle update in GNSS/INS integrated navigation under static condition was studied in this paper. We analyzed the reason which caused the heading angle drift of the carrier, and presented the specific expression of the zero-angle update. In order to correct the error of the heading angle, the measurement equation of the Kalman filter was changed. And this method was verificated by measured data. The results showed that using zero-angle update alone under static condition could improve the accuracy of the carrier heading and make great contribution to the estimation of the vertical gyro bias. Combining with the zero-velocity update, heading accuracy could be further improved.

关 键 词：零角度修正 零速修正 松组合 卡尔曼滤波 航向角漂移 

分 类 号：P228[天文地球—大地测量学与测量工程]