机载SAR用的GPS/SINS组合导航系统研究

提出了进行SINS姿态校正的四元补偿算法。采用闭环KF（卡尔曼滤波）技术实时校正惯性仪表误差，补偿四元数误差，修正位置，速度误差，GPS／SINS组合导航系统样机的试验结果表明：采用该提出的算法后，组合导航精度较高，在组合导航过程中若去掉GPS信息，短时间内纯SINS的导航精度很高，能够满足SAR对运动补偿精度的要求，待恢复GPS信息后，组合导航系统继续正常工作。

Integrated GPS/SINS Navigation System for Airborne SAR

Quaternion compensation algorithm for attitude correction of SINS is proposed using closed loop Kalman filter (KF) method that can real-time correct the errors of inertial instrument, compensate quaternion, position and velocity. Experiment results of integrated GPS/SINS navigation system prototype show that the integrated navigation has higher accuracy using the proposed algorithm, and if GPS message is interrupted abruptly in the process of integrated navigation, the pure SINS can maintain a relative high navigation accuracy for a certain time and can also meet the requirement of SAR motion compensation. When GPS message is returned to normal receiving, the integrated GPS/SINS navigation will resume normal working.