| SINS/DGPS/Magnetometer组合导航研究 |
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| 引用本文： | 王直,张军. SINS/DGPS/Magnetometer组合导航研究[J]. 航天控制, 2006, 24(3): 21-24 |
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| 作者姓名： | 王直 张军 |
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| 作者单位： | 江苏科技大学,江苏,212003;江苏科技大学,江苏,212003;海军航空工程学院,山东,264001 |
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| 摘 要： | 本文针对SINS/DGPS/Magnetometer全组合系统进行了研究,建立了相应的误差模型和系统观测模型。应用扩展卡尔曼滤波算法将GPS测量方程和SINS动态线性化,进行SINS验前状态估计及其误差协方差时间更新。仿真结果表明:本文提出的组合导航系统能够给出载体的高精度姿态信息,位置误差和速度误差也较小。
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| 关 键 词： | 惯性导航系统 全球卫星定位系统 磁力计 卡尔曼滤波 伪距 载波相位 |
| 文章编号： | 1006-3242(2006)03-0021-04 |
| 修稿时间： | 2004-09-14 |
Study of SINS/DGPS/Magnetometer Integrated Navigation System |
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| Wang Zhi,Zhang Jun. Study of SINS/DGPS/Magnetometer Integrated Navigation System[J]. Aerospace Control, 2006, 24(3): 21-24 |
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| Authors: | Wang Zhi Zhang Jun |
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| Abstract: | SINS/ DGPS/Magnetometer integrated navigation system is discussed,the corresponding error model and measurement model are constructed.Extended Kalman filter is applied to linearize GPS measurement model and SINS,then the state estimation and error covariance time-update of SINS are accomplished.Simulation results show that this integrated system can get navigation attitude position with high precision,also the position error and velocity error are decreased. |
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| Keywords: | SINS DGPS Magnetometer Kalman filter Pseudorange Carrier phase |
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