一种GPS/GLONASS/INS数据融合算法  

A GPS/GLONASS/INS data fusion algorithm

作　　者：刘毓[1] 邹星[1] 

机构地区：[1]重庆三峡学院电子与信息工程学院,重庆404000

出　　处：《测绘科学》2017年第9期20-24,36,共6页Science of Surveying and Mapping

基　　金：国家自然科学基金项目(11201510);重庆市教委自然科学基金项目(KJ1401005)

摘　　要：针对卫星导航系统和惯性导航系统(INS)的不同特性,提出了一种GPS/GLONASS/INS数据融合算法。采用差分自适应检测算法、改进码平均相位算法以及位置联合解算方法实现了GPS/GLONASS数据融合,借助于改进的粒子滤波器、INS误差模型建立系统状态方程和观测方程,完成GPS/GLONASS系统速度值和INS系统速度值数据融合,提高组合导航系统精度和可靠性。使用真实数据对数据融合算法性能进行仿真分析,结果表明所设计算法是有效的,能够处理非线性非高斯条件下的滤波估计,提高滤波精度和系统可靠性。According to the different characteristic of satellite navigation system and inertial navigation system, a GPS/GLONASS/INS data fusion algorithm is proposed. The adapted detection algorithm based on different correlation, the modified code average phase algorithm and the combined location calculation algorithm are used for GPS/GLONASS data fusion, state equation and observation equation are founded by means of modified particle filtering, error model of inertial navigation, the velocity of GPS/GLONASS and the velocity of INS system are fused, improves precision and reliability of integrated navigation sys- tem. Performance of data fusion algorithm is simulated using actual data, the result shows that GPS/GLO- NASS/INS data fusion algorithm is effective, can deal with the state estimation of highly nonlinear on non-Gaussian condition, improves filtering precision and reliability of system.

关 键 词：GPS/GLONASS/INS组合导航 惯导误差模型 非线性 非高斯 

分 类 号：P228[天文地球—大地测量学与测量工程]