基于INS/GPS组合导航的卡尔曼平滑研究与应用

2008 ISECS International Colloquium on Computing, Communication, Control, and Management Pub Date : 2008-08-03 DOI:10.1109/CCCM.2008.314

Jian Rong, Haitao Zhang, Xiaochun Zhong, Ke Chen

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引用次数: 8

摘要

提出了一种基于卡尔曼平滑的定位算法，提高了INS/GPS组合导航系统的性能。本文分别分析了惯性导航系统(INS)和全球定位系统(GPS)的误差来源，建立了误差状态模型。在此基础上，对基于GPS和INS信息的INS/GPS组合导航系统进行了建模和仿真，并对采用KF滤波和rauch - tung -smooth (RTS)滤波的算法进行了比较。数值仿真结果表明，RTS滤波能显著提高组合导航系统的鲁棒性和可靠性。该系统具有精度高的明显优点。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Research and Application of a Kalman Smoother Based on INS/GPS Integrated Navigation

A positioning algorithm based on a Kalman smoother is proposed, and the performance of the INS/GPS integrated navigation system is improved. In this paper, the error sources of inertial navigation system (INS) and Global Positioning System (GPS) are analyzed respectively, and then the error state models are set up. Furthermore, the INS/GPS integrated navigation system based on the information of GPS and INS is modeled and simulated, and the algorithm using the KF and the Rauch-Tung-smoother (RTS) filtering is compared. The numerical emulation demonstrates that the RTS filtering can greatly enhance the robustness and reliability of integrated navigation system. The system has obvious advantages of high accuracy.

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2008 ISECS International Colloquium on Computing, Communication, Control, and Management

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