【摘要】 针对北斗卫星定位系统和惯性导航系统的组合设计组合导航卡尔曼滤波定位算法,引入伪距率作为观测量,基于高稳定度用户时钟,提出了双星下用两级滤波器对惯导进行闭环校正的闭环组合设计方案。其最大的优点是能根据收星情况稳定地在闭环和开环方式之间转换,这是采用惯导模型设计滤波器所不具有的。最后通过仿真说明本文方案有效地提高了丢星时组合导航系统的滤波定位精度,能够有效校正惯导的姿态误差角,并以较高的精度估计用户的三维速度。更多还原

【Abstract】 One scheme of integrated navigation Kalman filter positioning algorithm was put forward to apply to “Beidou” and INS(intertial navigation system).Using the pseudo-range’s velocity of changing as observations,on the basis of the high stable clock,a closed loop Kalman filtering model that can revise the attitude error of INS was put out,its biggest optimism was that it could change between the close-loop method and open-loop method steadily.Finally,by computer simulation,it explain that our scheme improve the positioning precision effectively when the satellites in sight are less then two ones,and it also show that our scheme can revise the attitude error of INS effectively and estimate the user’s velocity in high precision.更多还原