卫星信号缺失情况下GPS/SINS组合导航系统研究

针对GPS/SINS组合导航在复杂环境中出现的卫星信号不全情况,在分析SINS误差模型的基础上建立了组合导航的松组合和紧组合模型,采用无迹卡尔曼滤波对两种组合模式进行仿真实验.仿真结果显示,在卫星信号正常情况下,紧组合的导航精度高于松组合;在卫星信号缺失时,松组合转变为单纯的惯性导航,导航误差随时间积累,紧组合虽然误差增大,但在一定时间内仍能提供精确导航信息,提高了GPS/SINS组合导航适应复杂环境的能力.

Research on GPS/SINS integrated navigation system based on the case of lacking satellite signal

For the condition of complex environments, the GPS/SINS integrated navigation systemt s satellite signal can be easily incomplete. Loosely-coupled integrated navigation system and the tightly-coupled system models are built based on the analysis of the SINS error models. Simulation experiments are given on the two combination models using UKF. The Simulation results show that under normal satellite signals conditions, tightly-coupled system can provide more accuracy information than loosely-coupled system. While lacking satellite signals, loosely-coupled system transforms into inertial navigation system and the navigation error accumulate with time. Although the error of tightly-coupled system increase, but it still provide accurate navigation information within a certain time, so it improves the ability of GPS/SINS integrated navigation to adapt to the complex environments.