SINS/Two-Antenna GPS组合导航系统设计及实现 |
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作者姓名: | 王直 刘建业 刘波 |
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作者单位: | [1]南京航空航天大学自动化学院,中国南京210016 [2]江苏科技大学电子信息学院,中国镇江212003 [3]中国舰船设计研究中心,中国武汉430064 |
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基金项目: | 国家863项目“甘薯分子育种技术研究与新品种培育”(2003AA207140),福建省粮食重大专项子专题“优质专用高产抗病甘薯新品种选育及安全高效生产技术研究与示范”(2004NZ01-5)。 |
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摘 要: | 对SINS/two—antenna GPS全组合导航系统进行了研究,建立了相应的误差模型和系统观测模型,特别是组合系统下的GPS载波相位双差观测模型。提出了一种扩展的卡尔曼滤波方法,并进行了系统硬件集成设计。仿真结果表明:该设计改善了系统性能,提高了导航定位的精度、可靠性和实用性。
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关 键 词: | 捷联式惯性导航系统 全球卫星定位系统 卡尔曼滤波 伪距 载波相位 |
收稿时间: | 2005/9/23 0:00:00 |
修稿时间: | 2005/11/28 0:00:00 |
DESIGN AND REALIZATION OF SINS/TWO-ANTENNA GPS INTEGRATED NAVIGATION SYSTEM |
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Authors: | Wang Zhi Liu Jianye Liu Bo |
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Institution: | College of crop science, FJAU, Fuzhou 350002 |
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Abstract: | The strapdown inertial navigation system (SINS)/two-antenna GPS integrated navigation system is discussed. Corresponding error and the measurement models are built, especially the double-differenced GPS carrier phase model. The extended Kalman filtering is proposed. And the hardware composition and connection are designed to simulate the SINS/two-antenna GPS integrated navigation system. Results show that the performances of the system, the precision of the navigation and the positioning, the reliability and the practicability are improved. |
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Keywords: | strapdown inertial navigation system GPS Kalman filtering pseudorange carrier phase |
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