【摘要】 利用卡尔曼滤波器将GPS伪距与SINS进行了深组合,在分析了导航误差产生原因的基础上,提出了输出校正与反馈校正相结合的混合校正卡尔曼滤波方法。与输出校正和反馈校正方案相比,这种校正方法提高了系统导航精度。仿真结果验证了混合校正卡尔曼滤波方法的有效性。更多还原

【Abstract】 The deep integration of pseudorange with strapdown inertial navigation system is completed in this paper. On the base of analyzing the production of navigation errors, a composed revising method is proposed by the combining output revising method with the backward revising method. Compared with these two revising methods, the composed revising method improves the integration system navigation accuracy. The simulation results show the efficiency of this revising Kalman filtering mechanism.更多还原