车载捷联惯导系统定位测姿算法研究

GPS／INS组合精确测定平台的位置和姿态是移动测图系统中的重要模块。对陀螺仪和加速度计所测角速度和比力进行两次积分得载体姿态、速度和位置即SINS力学机械编排。目前该过程大多在地理坐标系进行。这里详细推导了地球坐标系中完整的解算过程，以四元数姿态矩阵更新及重力计算为核心，由IMU原始观测值解算出了载体位置、速度和姿态等参数，可快速高效与CPS输出的位置速度信息进行组合滤波处理，可据此编程进行工程应用数据处理。

Positioning and orientation computation on vehicle-borne SINS and discuss of calculation error

GPS and INS integrated to accurately determining position and attitude of flat roof is vital module in mobile mapping system. Specific force from speedometer and angle rate from gyro are integrated twice respectively to achieve attitude, velocity and position namely SINS mechanization. Currently this took placed in geographic coordinate, while here demonstrated in detail the whole mechanization in earth-centered earth-fixed coordinate, mostly quaternion attitude matrix updating and gravity calculation. Ultimately vehicle navigation parameters such as attitude, velocity and position were gained from IMU original observations. Mathematics platform is formed in SINS to carry out surveying and calculating precisely the navigation movement parameters. The results are prone to integrate with similar parameters from GPS to filter processing. Programming hereby can process data in engineering application .