MIMU/GPS组合导航建模及GPS时间延迟补偿算法研究

针对MIMU/GPS组合导航误差状态方程建模问题,利用惯导误差系数替代惯导测量误差作为状态向量,推导了新的组合导航误差状态方程。然后针对MIMU/GPS组合导航的数据时间同步问题,提出了一种新的GPS时间延迟补偿算法。该算法将GPS信息真实时间点上的MIMU状态参数与GPS信息进行组合滤波,并结合卡尔曼滤波状态转移矩阵将组合滤波的结果递推到当前时刻,作为MIMU下一步计算的初值,解决了组合导航数据的时间同步问题。仿真计算表明:新的组合导航模型具有较高的计算精度,时间延迟补偿算法有效可行。

Study on modeling of MIMU/GPS navigation and time delay synchronization method of GPS

To study the mathematical modeling of MIMU/GPS integrated navigation error equations,a new equation is established by taking inertial error coefficients as the states vectors instead of MIMU measurement errors.To study the data synchronization problem of MIMU/GPS integrated navigation systems,a new data synchronization method for GPS measurement data delay is proposed.In the proposed method,MIMU states and GPS states are fused in the reality GPS sample-time,and then the results are propagated from the reality GPS sample-time to the current sample-time using the Kalman filter propagation matrix.In the end,the final states are used to initialize MIMU states for next time’s navigation.Simulation results show that the new integrated navigation model has high accuracy and the new data synchronization method is effective.