基于 Matlab的 GPS/SINS紧组合仿真实现

首先，对不同的GPS／SINS组合模式进行了分析；在此基础上针对基于伪距、伪距率的紧组合导航系统进行研究，建立了系统的状态方程和量测方程，并用Matlab进行了仿真实现。在系统的仿真实现中，由于很难获得全面真实的导航飞行轨迹数据，文章采用一种纯数学形式的解析方法来产生飞行轨迹数据，因而系统的仿真包括3部分：轨迹发生器、GPS仿真子系统、SINS仿真子系统。仿真结果表明，GPS／SINS紧组合导航系统能够有效地提高系统的导航精度，用纯数学形式的解析方法来产生飞行轨迹数据是可行的、有效的。

Simulation Implemjentation on GPS/SINS Tightly Combination Based on Matlab

First, the different GPS/SINS combined models is analyzed. On this basis, the tightly integrated navigation sys- tem based on pseudo-range and pseudo-range rate was studied, and the system state equation and t equation were established and a simulation was made with Matlab. In the simulation of the system comprehensive and actual flight track data was hardly received, so in this paper a pure mathematical form analytical method was used to generate flight path data. Therefore, the simulation system consisted of three parts, such as the trajectory generator, GPS simulation sub- system, SINS simulation subsystem. Simulation results show that GPS/SINS tightly integrated navigation system could ef- fectively improve the navigation accuracy and using applying pure mathematical form analytical method to generate flight path data was feasible and valid.