| SINS/GPS紧耦合组合导航 |
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| 引用本文： | 郑辛,付梦印.SINS/GPS紧耦合组合导航[J].中国惯性技术学报,2011,19(1):33-37. |
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| 作者姓名： | 郑辛 付梦印 |
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| 作者单位： | 北京理工大学,自动化学院,北京,100081 |
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| 基金项目： | 国家自然科学基金项目(60904086) |
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| 摘 要： | 针对可用星数目小于4情况下,SINS/GPS松散组合导航必须转为纯惯性状态,无法解决纯惯性导航参数误差发散的问题,提出了以导航星伪距和伪距率为观测量的紧耦合SINS/GPS组合导航方案.建立了紧耦合系统的数学模型,搭建了硬件系统,并应用于工程实践.车载试验结果表明:当可用星数目小于4时,紧耦合系统定位的纬度误差、经度误...
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| 关 键 词： | 纯惯性 松散组合 紧耦合 伪距 伪距率 可用星数目 |
SINS/GPS tightly-coupled integrated navigation |
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| ZHENG Xin,FU Meng-yin.SINS/GPS tightly-coupled integrated navigation[J].Journal of Chinese Inertial Technology,2011,19(1):33-37. |
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| Authors: | ZHENG Xin FU Meng-yin |
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| Institution: | ZHENG Xin,FU Meng-yin(School of Automation,Beijing Institute of Technology,Beijing 100081,China) |
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| Abstract: | The SINS/GPS loose-coupled system has to work in the pure inertial state if less than 4 satellite are available,thus its parameter errors would be unbounded.In view of this problem,a tightly-coupled SINS/GPS integrated navigation scheme is put forward which takes the pseudorange and pseudorange rate of GPS as the observations.The model of tightly-coupled system is set up,and the technology is realized in practical application.The vehicle test results show that: when number of usable navigation satellites is... |
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| Keywords: | pure inertial loose-coupled tightly-coupled pseudo-range pseudo-range rate number of available satellite |
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