| 基于GPS RTK技术的惯导平台误差模型辨识 |
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| 引用本文： | 柳明,刘雨,苏宝库.基于GPS RTK技术的惯导平台误差模型辨识[J].上海航天,2009,26(2):9-14. |
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| 作者姓名： | 柳明 刘雨 苏宝库 |
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| 作者单位： | 哈尔滨工业大学,空间控制与惯性技术研究中心,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家安全重大基础研究项目 |
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| 摘 要： | 对在惯导平台车载试验误差模型辨识中使用全球卫星定位系统（GPS）载波相位差分（RTK）法进行了研究。建立了系统的状态与量测方程,将GPS RTK的整周模糊度作为一个状态进行估计,用基于平方根滤波的Kalman滤波器以防滤波发散。仿真结果表明：与单点定位GPS和伪距差分定位相比,GPS RTK法可明显提高辨识精度。
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| 关 键 词： | 全球卫星定位系统 载波相位差分 惯导平台 Kalman滤波 模型辨识 |
Error Model Identification of Inertial Navigation Platform Based on GPS RTK |
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| LIU Ming,LIU Yu,SU Bao-ku.Error Model Identification of Inertial Navigation Platform Based on GPS RTK[J].Aerospace Shanghai,2009,26(2):9-14. |
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| Authors: | LIU Ming LIU Yu SU Bao-ku |
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| Institution: | (Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin Heilongjiang 150001, China) |
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| Abstract: | Global positioning system real time kinematic technology （GPS RTK） was applied to the error model identification of the inertial navigation platform in this paper. The state equations and measurement equations were established. The ambiguity was treated as a state, and the square root filtering based on Kalman filter was designed to prevent divergence. The simulation results showed that much higher error model identification precision could be acquired by the GPS RTK technology than the single point GPS orientation and the pseudo-range differential orientation. |
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| Keywords: | Global positioning system Real time kinematic Inertial navigation platform Kalman filter Modelidentification |
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