卡尔曼滤波在某型组合导航系统模拟器中的应用

为提高某型GPS／INS组合导航系统模拟器模拟数据的真实性和飞行软件包、GPS模拟器、组合导航系统模拟器三者交联的有效性,在该模拟器中设计了卡尔曼滤波器。文中在介绍模拟器工作原理的基础上,建立了GPS／INS位置与速度组合方式下的卡尔曼滤波器的状态方程和量测方程,用U-D分解法建立了卡尔曼滤波方程,给出了纯惯导及组合后系统的位置与速度误差仿真曲线,并对仿真结果进行了系统测试,最后与其它模拟器进行了组网导航训练测试。

Application of Kalman Filtering For a Integrated Navigation System Simulator

In order to improve the facticity of simulating data of a GPS/INS integrated navigation system simulator and the validity of fly software package, GPS simulator and integrated navigation system simulator link each other, design the Kalman filter in the simulator. The paper bases on introducing the work principle of simulator, erects the Kalman filter state equation and measure equation of GPS/INS in the model of the position and speed coupling and fake space and fake space ratio coupling, sets up the Kalman filtering equation with U-D decomposable ways, provides the simulation curves of inertial navigation system and integrated navigation system position and speed error, puts up the system testing for simulation result, finally puts up the testing of integrated network navigation training.