北京理工大學,宇航學院,北京,100081
摘要:在低速、低動態條件下,研究了基于低成本、低精度的慣性元件實時導航算法,通過兩種卡爾曼濾波器對GPS及SINS導航系統進行了數據融合與仿真,實驗結果表明,采用自適應卡爾曼濾波所建模型基本可以滿足低成本SINS/GPS緊組合導航系統的要求。
關鍵詞:SINS/GPS;緊組合導航;卡爾曼濾波;仿真
中圖分類號:TP337;TP391.9 文獻標識碼:A
Research and simulation the algorithms based on the Simulink for SINS/GPS tightly integrated navigation
ZHANG Li,LI XingCheng, LI ChuanJun
BIT, Beijing, 100081
Abstract: In the low speed, low dynamic conditions, the paper has researched on the real-time navigation algorithms based on the low cost and low accuracy of inertial components, using the two kinds of the ordinary kalman filter and the adaptive kalman filter to conduct an data fusion and simulation experiment for the SINS and GPS navigation system, and the experimental results show that the model set by the adaptive kalman filter can meet the basic low cost SINS/GPS tightly integrated navigation system requirements.
Keywords: SINS/GPS; tightly integrated navigation; Kalman filter; simulation
參考文獻
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第一作者簡介:
張莉,女,北京理工大學宇航學院,在讀研究生,