绕地飞行器GPS/INS组合测量系统

采用全球定位系统 /惯性导航系统 (globalpositioningsystem/inertialnavigationsystem ,GPS/INS)组合方式实现对绕地飞行器定位和姿态测量。通过对可观测性能分析 ,得出了这样的结论 :仅用伪距和伪距变化率为观测量的组合系统对姿态角误差的可观测性较差。引入GPS载波测量信息作为观测量 ,可以提高姿态测量的可靠性和准确性。采用接收机自主完整性检测 (receiverautonomousintegritymonitoring ,RAIM)技术实时剔除异常数据 ,总结一种改进的自适应滤波算法进行数据处理 ,较之常规的Kalman滤波算法 ,收敛速度更快 ,平稳性更好。计算机仿真验证了算法的有效性

GPS/INS Integrated Measurement System on Earth-Circling Spacecraft

This paper proposes GPS/INS integrated to implement the positioning and the attitude determination of the earth circling spacecraft. Observability analysis shows that the integration system, in which only GPS pseudo range and delta pseudo range are the observable, can not assure favorable observability of the attitude error angles. And GPS carrier phase observable can be introduced to enhance the reliability and the precision in attitude determination. Here RAIM is used to eliminate the anomalous data, so as to get an improved adaptive filtering algorithm, which has faster convergent speed and better stability than the conventional Kalman filtering algorithm. At last, simulations are given to verify the effectiveness of the algorithm.