陀螺罗经和计程仪辅助的GNSS/SINS松组合导航系统  

A Loosely Coupled GNSS/SINS Integrated Navigation System Assisted by Gyroscope and Vialog

作　　者：顾明星 刘卫[1] 胡媛[2] 谢宗轩 赵建森[1] 王胜正[1] Gu Mingxing;Liu Wei;Hu Yuan;Xie Zongxuan;Zhao Jiansen;Wang Shengzheng(Merchant Marine College,Shanghai Maritime University,Shanghai 201306,China;College of Engineering Science and Technology,ShangHai Ocean University,Shanghai 201306,China)

机构地区：[1]上海海事大学商船学院,上海201306 [2]上海海洋大学工程学院,上海201306

出　　处：《航天控制》2021年第1期8-14,共7页Aerospace Control

基　　金：国家自然科学基金(52071199);上海市自然科学基金(18ZR1417100,19ZR1422800);上海市浦江人才计划资助(18PJD017)。

摘　　要：针对GNSS/SINS组合导航系统在全球导航卫星系统(GNSS)失效情况下,系统导航误差会因捷联式惯性导航系统(SINS)的误差积累而迅速扩大的问题,提出一种基于卡尔曼滤波(KF)的GNSS/SINS/GC/VL松组合导航系统及算法。该算法利用引入的航向和航速信息建立滤波方程,可以实现在滤波后对SINS进行误差修正。仿真结果表明,有陀螺罗经和计程仪辅助的GNSS/SINS组合导航系统在GNSS失效情况下,其定位误差比传统GNSS/SINS松组合的定位误差小。The navigation error of the GNSS/SINS integrated system can often rapidly be expanded due to the significant and time-varying errors inherent to the strapdown inertial navigation system(SINS)during the global navigation satellite system(GNSS)outages.In order to improve the navigation accuracy,a loosely coupled GNSS/SINS/GC/VL integrated navigation system is proposed,which is based on Kalman filtering(KF).New measurements are provided by the heading and speed information,and the SINS can be corrected finally.The simulation results show that the positioning error of the GNSS/SINS integrated navigation system assisted by a gyroscope and a vialog is smaller than that of the traditional GNSS/SINS loosely combination when the GNSS is temporarily disabled.

关 键 词：松组合 卡尔曼滤波(KF) 陀螺罗经 计程仪 

分 类 号：TN967.2[电子电信—信号与信息处理]