【摘要】 根据SPKF滤波理论,建立捷联惯导系统在地理坐标系中的误差方程和GPS导航定位的误差模型,设计了GPS/INS的SPKF滤波器。该系统中含有位置误差、速度误差、平台误差角、陀螺漂移、加速度计偏差等17维状态。利用伪距、伪距率的观测信息对全部状态进行观测。对组合导航系统进行了动态仿真,仿真结果表明系统估计状态的导航精度高,系统的鲁棒性好。更多还原

【Abstract】 According to the SPKF filter theory,this paper research on tightly-coupled GPS/INS integrated navigation system,which has 17 state of position error,velocity error,misalignment,gyro bias,accelerator bias.INS error equations projected in geographic coordinate and GPS error model are established,and SPKF filter model of GPS/INS is designed.Computer simulation results show that navigation accuracy is improved greatly,and the robust of system shows goodness.更多还原