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主要对陆用组合定位定向系统的卡尔曼滤波器设计、误差补偿算法等进行研究,利用GPS提供的位置信息,采用卡尔曼滤波器实时估计自寻北陀螺方位仪(ANDG)和计程仪(OM)的导航参数误差,用估计参数对定位解算方程加以修正,系统输出误差可以得到很好的抑制。仿真结果表明ANDG/OM/GPS组合定位定向系统的最大定位误差小于30m,方位误差不大于1.5′,可以满足低成本、高精度、长时间导航的应用需求。
This paper mainly studies the Kalman filter design, error compensation algorithm and so on. It uses the position information provided by GPS and uses the Kalman filter to estimate the self-search north gyroscope (ANDG) OM) navigation parameter error, using the estimated parameters to solve the positioning solution equation, the system output error can be well suppressed. The simulation results show that the maximum positioning error of ANDG / OM / GPS combined positioning and pointing system is less than 30m and the azimuth error is less than 1.5 ’, which can meet the application requirements of low cost, high precision and long time navigation.