车载SINS/GNSS组合导航算法应用研究

2019 IEEE 4th Advanced Information Technology, Electronic and Automation Control Conference (IAEAC) Pub Date : 2019-12-01 DOI:10.1109/IAEAC47372.2019.8997753

Yang Zhang, Zhongwei Liu, Zhijie Mao, Jifu Wang

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引用次数: 0

摘要

本文主要研究了车载SINS/GNSS松耦合导航算法的应用。推导了捷联惯导系统的姿态更新、速度更新和位置更新方程。将捷联惯导系统误差模型与卡尔曼滤波模型相结合，设计捷联惯导系统/GNSS松耦合滤波器。进行了车辆导航实验。结果表明，SINS/GNSS松耦合集成方案的精度明显优于纯惯性导航方案。

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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Application Research of In-vehicle SINS/GNSS Integrated Navigation Algorithm

This paper mainly studies the application of in-vehicle SINS/GNSS loosely coupled navigation algorithm. The SINS attitude update, velocity update, and position update equations are derived. The research designs SINS/GNSS loosely coupled filter by combining the SINS error model and the Kalman filter model. The vehicle navigation experiment is carried out. The results show that the accuracy of SINS/GNSS loosely coupled integration is significantly better than the pure inertial navigation solution.

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2019 IEEE 4th Advanced Information Technology, Electronic and Automation Control Conference (IAEAC)

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