| 车载挠性SINS/GPS组合导航系统研究 |
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| 引用本文： | 陶俊勇,温熙森,杨定新,陶利民.车载挠性SINS/GPS组合导航系统研究[J].中国惯性技术学报,1999(4). |
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| 作者姓名： | 陶俊勇 温熙森 杨定新 陶利民 |
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| 作者单位： | 国防科技大学!湖南长沙410073 |
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| 摘 要： | 本文介绍了一种实用车载挠性ＳＩＮＳ／ＧＰＳ组合导航系统的软、硬件组成。针对挠性动调陀螺和伺服加速度计的随机漂移问题，提出多项式拟合补偿的思想，并在此基础上设计了基于ＵＤＵＴ 分解的卡尔曼滤波器。通过实验室组合导航实验，验证了多项式补偿和组合方案的有效性，同时也说明了该系统是一种具有较高性能价格比的实用陆地战车导航系统。
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| 关 键 词： | 捷联惯导系统 GPS 组合导航 多项式拟合 卡尔曼滤波 |
Research on Flexible SINS/GPS Integrated Navigation System for Vehicle |
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| TAO Junyong,WEN Xisen,YANG Dingyong,WEN Xisen,YANG Dingsen,YANG Dingxin,TAO Limin min.Research on Flexible SINS/GPS Integrated Navigation System for Vehicle[J].Journal of Chinese Inertial Technology,1999(4). |
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| Authors: | TAO Junyong WEN Xisen YANG Dingyong WEN Xisen YANG Dingsen YANG Dingxin TAO Limin min |
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| Abstract: | This paper describes the software and the hardware configuration of a practical flexible SINS/GPS integrated navigation system for vehicles.The idea of polynomial fitting compensation is introduced to correct the random drift of dry tuned gyro and servoaccelerometer bias drift.Further more,the SINS/GPS integrated navigation Kalman filter algorithms based on the UDU T covariance factorization are discussed.Finally,the laboratory experimental results are given to show the effectiveness of the polynomial compensation and the SINS/GPS integrated scheme.The conclusion shows that it is a practical vehicle navigation system with high performanceprice ratio in application . |
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| Keywords: | strapdown inertial navigation system GPS integrated navigation polynomial fitting Kalman filtering |
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