GPS／捷联惯性组合导航的半物理仿真算法

讨论了ＧＰＳ／捷联惯性组合导航的原理和特点，针对其理论仿真和工程实现中的衔接问题，提出了一种半物理算法，该算法既继承了理论仿真方便，直接的优点，又充分利用的实测数据，可脱离实时环境对各种结构和参数进行设计和调试，一旦系统调试成功，就可以将全套核心软件直接转移到导航计算机中，因此本算法具有简便，经济，省时，可操作性和可比较性强等优点。本文给出了半物理算法的原理和方案，讨论了组合卡尔曼滤波器的设计和Ｇ

A Semi-Physical Simulation Algorithm of GPS/SINS Integrated Navigation System

The principle and specificity of the GPS/SINS integrated system are studied. In view of the existing problem between the system simulation and the engineering realization, a semi-physical algorithm has been presented in the paper. The algorithm not only inherits the advantages of direct and convenience by system simulation,but disc makes good use of the actual measurement data. It may be used to design and test various structures and parameters of the system off the real-time environment. When the system has been tested successfully, the GPS/SINS software programs would be transferred directly to the navigation computer. The algorithm, therefore, has advantages of convenience,economy and time saving. It is also strong in operability and comparison. In this paper,the principles and the plan of the semi-physical algorithm are explained. Integrated Kalman filter, GPS simulation, track simulation, inertial measurement unit simulation and so on are discussed. The result of the algorithm is given at last.