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把低成本捷联式惯性测量装置(IMU)和单通道P码全球定位系统(GPS)接收机加以组合可提供精确的导航解,并具有对飞行中IMU进行校准和对准的能力。这种组合系统利用惯性导航系统(INS)的速度来辅助GPS进行搜索和跟踪,而GPS的测量值用来估算IMU的误差。本文介绍了一种分离数据技术,这种技术可使GPS卡尔曼滤波器和INS卡尔曼滤波器不依赖卫星瞄准线伪距和距离变化测量值而独立工作。这个系统用GPS接收机和INS计算机各自的硬件为GPS或IMU单独导航提供了模块性和反向工作模式。当GPS接收机的工作周期小于四颗卫星的覆盖范围时,也用气压高度计数据来扩展它的工作范围。本文介绍了从YPG激光试验靶场得到的飞行数据。这些试验结果显示了期望的导航精度和转移对准能力。
Combining a low cost strapdown inertial measurement device (IMU) with a single-channel P-code Global Positioning System (GPS) receiver provides accurate navigation solutions and the ability to calibrate and align the in-flight IMUs. This combined system utilizes the speed of the inertial navigation system (INS) to aid GPS in its search and tracking, while GPS measurements are used to estimate the IMU error. This article describes a separation data technique that allows GPS Kalman filters and INS Kalman filters to work independently of satellite line-of-sight pseudoranges and distance measurements. This system provides the modular and reverse mode of operation for GPS or IMU individual navigation with the respective hardware of the GPS receiver and INS computer. When the GPS receiver’s duty cycle is less than the coverage of four satellites, it also uses barometric altimeter data to expand its operating range. This article describes the flight data obtained from the YPG laser test range. These test results show the desired navigation accuracy and transfer alignment capabilities.