GPS/SINS/Odometer组合导航系统的研究  

Research on integrated navigation system of GPS/SINS/Odometer

作　　者：刘世涛[1] 曹阳[1] 彭小峰[1] 张勋[1] 

机构地区：[1]重庆理工大学电气与电子工程学院,重庆400054

出　　处：《微型机与应用》2016年第22期65-67,71,共4页Microcomputer & Its Applications

摘　　要：针对全球定位系统(GPS)和捷联惯性导航系统(SINS)组成的车载导航系统在GPS失效时精度会快速下降的问题,提出了GPS/SINS/Odometer(里程计)组合导航定位系统,采用联邦卡尔曼滤波对SINS进行误差估计并作反馈校正。当GPS无效时,就可以使用里程计辅助SINS。实验结果表明,在GPS失效的时间段内,该组合系统可以有效地抑制SINS的误差发散,并将其误差限制在较低的水平,保证了组合导航系统的精度与可靠性。Based on the accuracy of GPS/SINS - compass will decrease gradually when GPS is unavailable for a long time, the integrated navi- gation system of GPS/SINS/Odometer is put forward. And the Federal Kalman filter algorithm is used to fuse these sensors data. Thus, the O- dometer is used to inhibit the divergence of SINS errors when GPS is unavailable. The actual experiments have shown that GPS/SINS/Odometer system can inhibit the divergence of SINS errors, maintain smaller error level, especially during the long GPS outages, and ensure the accuracy and reliability of integrated navigation system.

关 键 词：全球定位系统 捷联惯性导航系统 里程计 组合导航系统 联邦卡尔曼滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]