基于自适应航迹融合算法的GPS／SINS紧组合导航系统研究

针对开环校正GPS/INS组合导航系统卡尔曼滤波器在长时间工作条件下滤波精度下降的问题,提出了基于自适应航迹融合算法的紧组合GPS/INS导航系统方案.设计了一个与GPS/INS滤波器并行的独立GPS滤波器,利用自适应航迹融合算法对两个滤波器输出的局部航迹进行融合,从而得到系统航迹.数学仿真结果表明,该方案能够有效提高导航系统的导航精度和容错能力.

Tightly Coupled GPS/SINS Integrated Navigation System Based on Adaptive Track Fusion

A tightly coupled GPS/INS integrated navigation solution based on the Adaptive Multi-sensor Track Fusion algorithm was proposed to improve the accuracy of the system in case of the Kalman filter of GPS/INS having a longtime work. An independent GPS Kalman filter was designed in parallel with the GPS/INS integrated filter. The local tracks, the estimate results of the two filters mentioned above, were fused by the Adaptive Track Fusion algorithm to gain a more precise track. The simulation results show that this solution can improve the accuracy and the fault-tolerance of the navigation system.