卡尔曼滤波在弹道组合导航仿真中的应用

根据捷联惯性导航(INS)和GPS导航两个系统不同的特点,通过卡尔曼滤波方法实现了INS/GPS组合导航,以速度差和位置差作为卡尔曼滤波的量测量信息,建立了组合导航的简化滤波方程.在实际陀螺器件含有零偏的情况下,通过在角速度上引入定量的零位偏置来进行弹体模拟投放过程.将仿真导航结果和弹道参数比较,引入的陀螺偏置引起姿态角误差,而速度误差和位置误差比较小,导航计算参数误差在允许范围之内.

Application of Kalman Filtering in Trajectory Integrated Navigation Simulation

According to the difference of strap-down inertial system and GPS system,This text realizes the INS/GPS integrated system by KALMAN filtering,gets simple filtering equations using velocity error and position error as measurement information.When the gyro includes bias,it does trajectory simulation experiment on this condition of gyroscope bias.According to the simulation result and trajectory parameters,the result is that the navigation parameters error has good quality and achieves requirement of experimen...