| 改进的GPS/INS组合导航选星算法 |
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| 引用本文： | 黄继勋,王艳东,范跃祖.改进的GPS/INS组合导航选星算法[J].航空学报,2001,22(3):286-288. |
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| 作者姓名： | 黄继勋 王艳东 范跃祖 |
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| 作者单位： | 北京航空航天大学自动化科学与电气工程学院301教研室 北京 100083 |
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| 基金项目： | 国家“8 6 3”重点资助项目! (86 3-30 6 -ZT0 4-0 3-4 ) |
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| 摘 要： | 在已有的 GPS定位的选星算法的基础上,从组合系统量测矩阵出发提出了一种适用于 GPS/INS组合导航的选星算法。此算法在原有算法的基础上,考虑了卫星仰角、方位角对卡尔曼滤波器可观性的影响,避免因观测量与系统状态间关联项的减少而导致的滤波器可观性下降,从而保证滤波器性能的稳定。
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| 关 键 词： | 全球卫星定位系统(GPS) 惯性导航系统(INS) 卡尔曼滤波 |
| 文章编号： | 1000-6893(2001)03-0286-03 |
| 收稿时间： | 2000-04-28 |
| 修稿时间： | 2000年4月28日 |
IMPROVED ALGORITHM OF SELECTED SATELLITE USED IN GPS/INS INTEGRATED NAVIGATION SYSTEM |
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| HUANG Ji-xun,WANG Yan-dong,FAN Yue-zu.IMPROVED ALGORITHM OF SELECTED SATELLITE USED IN GPS/INS INTEGRATED NAVIGATION SYSTEM[J].Acta Aeronautica et Astronautica Sinica,2001,22(3):286-288. |
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| Authors: | HUANG Ji-xun WANG Yan-dong FAN Yue-zu |
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| Institution: | Department of Automatic Control, Beijing University of Aeronautics and Astronautics, Beijing 100083, China |
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| Abstract: | Based on the existing algorithm of selected satellites used in GPS positioning, an improved algorithm is presented. It's more adapted to the integrated navigation system of GPS/INS. The novelty lies in that the effect of the satellite elevation and azimuth on the observability of Kalman filter is taken into account in this algorithm. It can avoid weakening the observability of Filter induced by the decrease of relevancy between measurement and state. Thus it can ensure the stability of Kalman filter. |
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| Keywords: | global positioning system(GPS) inertial navigation system(INS) Kalman filter |
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