【摘要】 本文在深入研究卡尔曼滤波原理及算法的基础上,结合海洋环境实际探索卡尔曼滤波在GPS/SINS船舶组合导航中的应用方法并进行组合导航系统的设计和仿真。为了降低旧数据在误差积累中的权重,本文对记忆数据进行了衰减处理,从而提高整个算法的自适应性能。仿真结果表明,集中式融合和顺序融合误差曲线均存在一定的波动,但绝对误差峰值较小,两者均方误差均为7.563 2。经扩展卡尔曼滤波后的GPS/SINS组合导航系统误差较小,均方误差峰值仅为6.532左右,而单独SINS导航误差约9.532,单独GPS导航误差约10.023。更多还原

【Abstract】 This paper firstly researched the method of Kalman filter. The application of kalman filter in ship GPS / SINS integrated navigation was also researched according to navigation actual situation. The ship GPS / SINS integrated navigation system was designed and simulated. To decrease the weights of old data in error accumulation, the memorized data was attenuate treated and the capability of self-adaptive has been heightened. The simulation results show that both of the deviation curve of centralized fusion and sequential fusion are fluctuated slightly. The peak value of absolute deviation data is relatively small and its mean square error is as small as 7. 563 2. The extensional Kalman filter GPS / SINS integrated navigation system deviation data is small as well. The mean square error is as small as about 6. 532 while the single SINS system deviation data is about 9. 532 and the single GPS system deviation data is about 10. 023.更多还原