基于北斗双星定位系统的组合导航滤波算法实现研究

捷联惯性导航系统的主要缺点是导航定位误差随时间增长。北斗双星定位系统是我国独立研制的一种区域性卫星导航定位系统，具有自主性强、定位精度较好的特点。因此捷联惯导与北斗双星定位的组合成为具有我国特殊意义的一种组合导航系统。论文针对北斗双星定位系统设计了一种低阶卡尔曼滤波器，建立了双星的量测噪声模型。首次提出了使用逐次逼近法来解决北斗双星系统中存在的位置滞后的问题，并且最后进行了实际的跑车验证。试验表明，该组合导航滤波算法实时性好，精度高，具有较好的工程应用价值。

Research on Realization of Filtering Method in Integrated Navigation Based on Bei-Dou Double Star Positioning System

The positioning errors' increasing is the weakness of strapdown inertial navigation system(SINS). Bei-Dou Double Star positioning system, which has the character of independence and high position accuracy, is a regional satellite navigation system developed by our country. So the integration of SINS and Double-Star positioning system become one important integrate navigation system with special meaning. This paper designed a method of the low order kalman filtering and presented the model of measure noise, which mainly aim at the at the Double-Star positioning system. And also presented resolving its position lag with sequential method for the first time, which verified by the experiment in the vehicle. And the result indicated that the integrated navigation filtering method has good real-time performance and high accuracy, which shows better value of engineering application.