摘要
为了研究卫星信号失效对SINS/GPS松组合导航系统和紧组合导航系统导航性能的影响,在分析惯导系统误差方程的基础上,给出了基于卡尔曼滤波的松组合和紧组合数学模型,构建了两种组合方式的仿真平台。仿真结果显示,SINS/GPS紧组合导航系统的精度要明显优于松组合导航系统,且在卫星信号失效导致可见星数目少于4颗甚至仅有1颗时,SINS/GPS紧组合依然能够保持组合模式,并可提供高于单一惯性导航系统的导航精度,说明了SINS/GPS紧组合方式具有较高的精度和可靠性。
In order to investigate the navigation capability of SINS/GPS loosely-couple integrated navigation system and the tightly-coupled system under the satellite signal invalidation,this paper established the math model of the loosely-coupled system and the tightly-coupled system based on the Kalman filtering and set up emulators of them on the basis of the analysis of error equation of SINS.The simulation results indicate that the precision of the SINS/GPS tightly-couple integrated navigation is obviously better than the loosely-couple,and the tightly-coupled system can be held and have a better precision than that of single SINS system at the same time even if the number of the visible satellites is less than four or just one caused by the satellite signal invalidation.This shows that tightly-coupled system have a good precision and reliability.
出处
《计算机应用研究》
CSCD
北大核心
2012年第10期3888-3890,3896,共4页
Application Research of Computers
基金
航空科学基金资助项目(20100818017)
陕西省电子信息系统综合集成重点实验室基金资助项目(201113y12)
