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对SINS/two-antennaGPS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。
The SINS / two-antenna GPS integrated navigation system is studied, and the corresponding error model and system observation model are established, especially the GPS carrier phase double-difference observation model under combined system. An extended Kalman filter method is proposed and the system hardware integrated design is carried out. Simulation results show that the design improves system performance and improves the accuracy, reliability and practicability of navigation and positioning.