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针对开环校正GPS/INS组合导航系统卡尔曼滤波器在长时间工作条件下滤波精度下降的问题,提出了基于自适应航迹融合算法的紧组合GPS/INS导航系统方案。设计了一个与GPS/INS滤波器并行的独立GPS滤波器,利用自适应航迹融合算法对两个滤波器输出的局部航迹进行融合,从而得到系统航迹。数学仿真结果表明,该方案能够有效提高导航系统的导航精度和容错能力。
Aiming at the problem that Kalman filter of GPS / INS integrated navigation system with open-loop correction declines in accuracy under long time working conditions, a scheme of tight combination GPS / INS navigation system based on adaptive track fusion algorithm is proposed. An independent GPS filter parallel to the GPS / INS filter is designed. The local tracks of the two filters are fused by the adaptive track fusion algorithm to get the system track. The result of mathematical simulation shows that this scheme can effectively improve navigation precision and fault tolerance of navigation system.