SINS/GPS组合导航系统滤波算法研究及工程实现

【作者】 张浩；

【导师】 盛安冬；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 本文对捷联惯性导航系统(SINS)及全球定位系统(GPS)的组合导航系统进行了深入研究。首先对组合滤波算法这一关键技术进行了系统研究。卡尔曼滤波器在组合导航系统中有着举足轻重的地位。滤波器设计的好坏直接影响着组合系统的输出质量。通过实际的应用发现，由于对运动体机动模型建立的不准确；同时，GPS输出数据中野值的存在，都严重干扰了滤波器的精度。 本文结合组合导航系统的特点，对系统的滤波算法进行了修正。在系统现有的硬件基础上，不用另外增加测量设备，将惯性测量单元(IMU)测得的运动体加速度信息引入滤波算法中。通过数学推导，仿真试验，证明了所提出算法的有效性、优越性，最后通过实际的跑车试验证明了算法的正确性。结果表明，组合系统的导航精度大大提高。更多还原

【Abstract】 In this paper, the integrated navigation system of strap-down inertial navigation system and global positioning system is studied deeply. First of all, the key technologies of integrated filtering algorithms are systematically studied. Kalman filter plays decisive pole in integrated navigation system. Quality that the filter is designed influence the output of the integrated system. Through real application, because the motive mode] of carrier is inaccurate, meanwhile, contained outliers in the data of GPS interfere the precision of filter seriously.In the paper, combining the characteristic of the integrated system, the filter algorithms of system are modified. On the basis of hardware with existing system, needn’ t increase measuring equipment in addition, acceleration information which is measured by inertial unit get to filter algorithm. Deriving through mathematics and experiment, the algorithm is proved validity and superiority. Finally, the algorithm is proved exactness by real car experiment. The results of test indicate that the navigation accuracy of integrated system is improved greatly.更多还原