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无陀螺捷联惯导系统与北斗二号卫星定位系统优势互补,组合导航具有一定的工程应用价值.首先设计了一种九加速度计配置方案,基于矢量力学理论,推导了角速度变化方程,利用智能加权和曲线拟合方法给出了其计算方程,并推导了系统误差方程,然后建立了组合导航系统状态方程和观测方程,应用Kalman滤波技术完成了系统参数解算.仿真结果表明,组合导航系统具有精度高、成本低、可靠性好的特点.
Non-gyro SINS and Beidou 2 satellite positioning system complement each other and combined navigation has some engineering application value.Firstly, a nine-accelerometer configuration scheme is designed, based on vector mechanics theory, the angular velocity variation equation is derived, The equations of weight and curve fitting are given and the system error equations are deduced. Then, the state equations and observation equations of the integrated navigation system are established, and the system parameters are solved by using Kalman filter technology. The simulation results show that the combined navigation system With high precision, low cost, good reliability characteristics.