基于对偶四元数的INS/GPS组合导航算法研究

在基于对偶四元数的捷联惯导解算方法的基础上，推导了以惯性系作为导航系的惯导误差方程，在此基础上设计了卡尔曼滤波组合导航算法。通过激光惯导跑车采集数据，进行了仿真分析，试验结果表明，该组合导航算法能有效的消除惯导累积的速度误差和位置误差，相比于目前广泛应用的INS/GPS组合导航算法，本文描述了INS/GPS组合导航的另一种实现方式，获得了相当的精度，具有一定的工程应用价值。

The Integrated Navigation Algorithm of GPS/INS Based on the Dual Quaternion

Based on the dual quaternion inertial navigation algorithm, the inertial navigation error equations are deduced in the inertial coordinate system, and a designed Kalman filter is used for integrated navigation. The simulation was done based on the real data of the LSINS, and the result indicates that the accumulated errors of velocity and position error in INS can effectively be eliminated by the proposed Kalman filter. Compared with the classical algorithm in INS/GPS integrated navigation, the proposed filter can achieve a same level accuracy and has a certain engineering value.