| 摘要: |
| 为了在高动态条件下对惯导系统工具误差进行在线估计，提出了基于卫星导航接收机原始测量信息的惯导/卫星导航深组合导航滤波方法，该方法是以卫星导航接收机伪距和伪距率作为观测量，对惯导系统位置、速度、姿态角和陀螺、加速度计零位等误差进行实时估计，并进行闭环补偿，解决了惯导系统长航时使用时，惯导系统误差随时间快速发散等问题。经理论仿真和试验验证，该方法可以有效地抑制惯导系统误差，具有工程实用价值。 |
| 关键词: 惯导系统 深耦合滤波 在线估计 |
| DOI： |
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| 基金项目: |
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| Research on Online Estimation Errors of Inertial Navigation System |
| ZHANG Guo-long |
| (Beijing Institute of Control & Electronic Technology) |
| Abstract: |
| For online estimation errors of inertial navigation system（INS）under the condition of high dynamic，the deep coupling filter method of INS/ GNSS（Global Navigation Satellite System）integration is proposed based on original measuring information of GNSS receiver.This method estimated the INS errors in real-time，such as position，velocity，attitude angle，gyro，accelerometer bias etc，and completed the closed loop compensation based on satellite receiver pseudo-range and pseudo-range rate as observed quantity.This method solves the problem of the inertial long-endurance，when using inertial navigation error spread rapidly over time.By theoretical simulation and experimental validation，this method can effectively inhibit the error of INS，and has engineering practical value. |
| Key words: INS Deep coupling filter On-line estimation |
