摘要
提出一种以伪距和伪距率作为观测量的GPS/INS组合导航算法,使其适用于嵌入式GPS/INS组合导航系统产品的开发。针对目前市面上的AHRS(姿态航向参考系统)的输出数据特性,以及课题组开发的GPS接收机的输出数据特性,提出一种简单易行的卡尔曼滤波算法。将姿态四元数递推方程与ECEF系下的位置、速度递推方程分别进行卡尔曼滤波,然后将滤波后得到的结果按照WGS-84模型转换为地理位置和速度。Matlab仿真与嵌入式系统运行结果表明设计的组合系统结构简单,稳定性好。避免了传统GPS/INS组合导航算法,要求惯性传感器精度高,计算量大,耗费硬件资源多的问题。
A new approach of filtering of GPS/INS integrated system is proposed which uses the pseudo range and pseudo range rate as measurements. This new algorithm is adapted to the development of embedded system. In view of the output data of AHRS sold on the market, and the output data of GPS receiver developed in department, an easy and convenient Kalman filter algorithm is proposed. The quaternion equation and position, velocity equation in ECEF are filtered by Kalman filter. Then the results are transformed into the NED frame by the WGS -84 earth model. The results of Matlab simulation and embedded system performance show that the construction of this integrated navigation system is very simple and stable. Besides, it avoids the problems in traditional GPS/INS which need more accurate inertial sensors, complicated calculation and too much hardware resource.
出处
《计算机仿真》
CSCD
北大核心
2009年第5期79-83,共5页
Computer Simulation
基金
国防预先研究支撑课题(619010702)
