GPS/运动方程组合导航

提出了一种不增加硬件设备而仅用软件（运动方程）－－全球卫星定位系统／运动方程（GPS／EM）组合导航方案，分析了其适用范围和特点。根据传统运动方程建模中的各种误差源，了包含误差源在内的飞行器扰动方程，并得出其解析解。建立了GPS／EM组合系统状态方程和观测方程，并进行仿真，验证了其可行性。结果表明，GPS／EM组合系统导航精度高于GPS，而且较单独GPS增加了信息冗余度。

GPS/Equations of Motion Integrated Navigation System

A new navigation scheme, global positioning system/equations of motion (GPS/EM) integrated navigation system that doesn't increase any equipment but uses motion equation only, is given in this paper. Its application scope and characteristics are analyzed. According to the errors in modeling of traditional motion equation, the disturbance equations that include the modeling errors and the analytic solutions are deduced. The equations of the state and observation of GPS/EM are set. The numerical simulation results show that the navigation precision of GPS/EM is much higher than the GPS's and has more redundancy than the original system.