GPS与捷联惯导组合导航系统研究

【作者】 杜习奇；

【导师】 庄志洪；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2004， 硕士

【摘要】 GPS／SINS组合导航系统是综合了SINS自主性和GPS高精度优点的现代导航系统，具有导航精度高、可靠性好、小型化等特点，是现代导航系统的发展方向之一。本文的主要工作包括：1)对捷联惯导系统(SINS)和全球定位系统(GPS)的误差进行了分析；对捷联惯导系统中姿态矩阵的计算误差及惯导系统的误差特性进行了仿真。2)研究了GPS／SINS组合导航系统的组合模式，并在此基础上，建立了集中式卡尔曼滤波的状态方程和测量方程，并对位置、速度组合开环卡尔曼滤波方式进行了仿真分析。对比发现GPS／SINS组合导航系统提高了导航精度，满足导航要求。3)针对集中式卡尔曼滤波计算量大和容错能力差的缺点，本文研究了联合卡尔曼滤波算法。分析了其融合模式及容错性能，并对一种自适应联合卡尔曼滤波算法进行了研究。更多还原

【Abstract】 GPS/SINS integrated navigation system gathers the advantages of both GPS and SINS. It has the specialty of high precision, good reliability and small volume. It is one of the development directions of modern navigation system. The content of this paper includes three aspects: l)The error models of GPS and SINS were studied respectively, and the error characteristics of SINS were simulated. 2) Based on the research of integrate models of GPS/SINS, the estate equation and the measure equation of centralized Kalman filter were established, and the position-velocity integrate Kalman filter was simulated. Contrast with SINS, the GPS/SINS integrated navigation system enhance navigation precision and satisfy the navigation requiring. 3) According to the disadvantages of centralized Kalman filter, in this paper, the federated filter was researched. The inosculate models and the characteristics of fault tolerance were analyzed. And a kind of adaptive federated Kalman filter algorithm was researched.更多还原