绕地飞行器GPS/INS组合测量系统  

GPS/INS Integrated Measurement System on Earth-Circling Spacecraft

作　　者：冯文江[1] 杨士中[1] 

机构地区：[1]重庆大学通信工程学院,重庆400044

出　　处：《系统工程与电子技术》2002年第12期71-75,共5页Systems Engineering and Electronics

基　　金：航空基础科学基金资助课题 (0 0E5 10 2 2 )

摘　　要：采用全球定位系统 /惯性导航系统 (globalpositioningsystem/inertialnavigationsystem ,GPS/INS)组合方式实现对绕地飞行器定位和姿态测量。通过对可观测性能分析 ,得出了这样的结论 :仅用伪距和伪距变化率为观测量的组合系统对姿态角误差的可观测性较差。引入GPS载波测量信息作为观测量 ,可以提高姿态测量的可靠性和准确性。采用接收机自主完整性检测 (receiverautonomousintegritymonitoring ,RAIM)技术实时剔除异常数据 ,总结一种改进的自适应滤波算法进行数据处理 ,较之常规的Kalman滤波算法 ,收敛速度更快 ,平稳性更好。This paper proposes GPS/INS integrated to implement the positioning and the attitude determination of the earth circling spacecraft. Observability analysis shows that the integration system, in which only GPS pseudo range and delta pseudo range are the observable, can not assure favorable observability of the attitude error angles. And GPS carrier phase observable can be introduced to enhance the reliability and the precision in attitude determination. Here RAIM is used to eliminate the anomalous data, so as to get an improved adaptive filtering algorithm, which has faster convergent speed and better stability than the conventional Kalman filtering algorithm. At last, simulations are given to verify the effectiveness of the algorithm.

关 键 词：飞行器 GPS INS 组合测量系统 姿态测量 KALMAN滤波 仿真 全球定位系统 惯性导航 

分 类 号：P12[天文地球—天体测量]