GPS/SINS伪距(伪距变化率)组合导航系统实验研究

基于挠性捷联惯性测量系统和ＧＰＳ接收机ＯＥＭ板，以伪距（（伪距变化率）残差作为观测信息，实现了ＧＰＳ／ＳＩＮＳ伪距组合导航系统的软硬件设计，并先后在实验室和高速公路上对样机的导航定位、测速以及姿态性能和精度进行了静态考核和动态车载试验。试验结果表明，系统伪距组合滤波器的设计和参数选择正确，样机取得了较好的精度。

Investigation on Integrated GPS/SINS Navigation System with Pseudorange (deltarange) Coupled

A set of strapdown inertial measurement unit (SIMU ) and a GPS receiver kernel are integrated into a GPS/SINS hybrid system with the pseudorangeand deltarange residuals as the observation of the integrated Kalman filter. And then ,the static test in laboratory and van test on highway are conducted to investigate thenavigational characteristics of the prototype. The test results demonstrate the correc-tion of the integration Kalman filter designed and the expected accuracy of position , ve-locity and attitude.