基于IMU/EGNOS深组合算法研究  

Research of Algorithm for Tightly Coupled IMU/EGNOS Sensor Fusion

作　　者：何伟[1] 路阳[1] 周启平 HE Wei;LU Yang;ZHOU Qiping

机构地区：[1]中国电子科技集团公司第二十研究所,西安710068 [2]国网信通股份公司安徽继远软件有限公司,合肥230088

出　　处：《现代导航》2021年第4期258-263,共6页Modern Navigation

摘　　要：针对卫导系统在复杂场景中,容易受到干扰、定位误差波动大等问题,采用惯性测量单元(IMU)与EGNOS的深组合技术。为了提高定位精度,通过扩展卡尔曼滤波建立IMU/EGNOS误差模型,利用IMU辅助EGNOS定位,增强EGNOS在复杂环境中的适应性。试验结果表明,该方法能够极大地提高IMU/EGNOS深组合系统的定位稳定性和精度。In complex scene,the fault of the GNSS lies in the susceptibility to be interfered and the large fluctuant positioning error,so tightly coupled IMU/EGNOS sensor fusion technique is used.To improve the positioning accuracy,an IMU/GNSS error model is established by using extended Kalman filter.By adopting IMU assisted EGNOS positioning,the adaptability of EGNOS is enhanced.The test results showed that this method greatly improved the positioning stability and accuracy of the tightly coupled IMU/EGNOS sensor fusion system.

关 键 词：IMU EGNOS 深组合 扩展卡尔曼滤波 

分 类 号：TN967.2[电子电信—信号与信息处理]