【摘要】 为了提高组合导航系统的容错性和可靠性 ,本文采用基于伪距、伪距率的GPS/SINS组合导航系统 ,详细推导了该组合导航系统的模型 ,并通过仿真验证了当有效定位卫星数目小于四颗时 ,该组合方法仍可以利用GPS信息修正SINS的导航误差 ,满足一定的导航精度需求。并通过可观性分析 ,说明了不同有效卫星数目对导航精度的影响更多还原

【Abstract】 In this paper, integrated navigation system based on pseudo-range and its’ rate is used to improve the fault tolerant ability and reliability. The integrated navigation system model is derived in detail. If the number of satellites visible is less than 4, it is validated by simulation that GPS can be still used in integrated navigation system with certain navigation precision. The effect of the number of satellites visible to navigation precision is explained by observability analysis.更多还原