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首先介绍了新型深组合GPS/INS系统原理图及组合导航滤波算法。在该算法中 ,组合卡尔曼滤波器除完成INS误差及GPS接收机时钟误差的估计外 ,还参与了GPS码跟踪 ,即完成传统码跟踪环中环路滤波器的功能。采用自适应码跟踪误差估计器补偿组合卡尔曼滤波器测量值中的相关分量 ,从而消除了传统组合中不稳定的主要根源。然后进行了计算机仿真计算 ,仿真结果表明 ,新型深组合GPS/INS导航算法适用于机动性较高的载体。
First introduced the new combination of GPS / INS system schematic and combined navigation and filtering algorithm. In this algorithm, the combinatorial Kalman filter not only completes the estimation of INS error and GPS receiver clock error, but also participates in the GPS code tracking, that is, completes the function of the loop filter in the traditional code tracking loop. An adaptive code tracking error estimator is used to compensate for the correlation component in the combined Kalman filter measurements, thus eliminating the main source of instability in the traditional combination. Then the computer simulation is carried out. The simulation results show that the new deep combination GPS / INS navigation algorithm is suitable for the mobile high carrier.