| 摘要: |
| 微惯导系统（MINS）与卫星导航系统（GNSS）的结合不仅可以充分利用微惯导系统良好的短期性能和GNSS的长期稳定性，弥补MINS系统误差随时间积累和GNSS采样频率低、动态性能差的缺陷，而且使得组合导航系统的精度和动态能力同步提高，保证了系统在卫星信号受遮挡或失效的环境下仍能够以较高的精度自主运行一段时间，正常工作。采用星网宇达的产品采集真实数据进行了离线仿真，比较了多种滤波算法，实验证明，采用UKF取得的效果最好，EKF次之，KF最差。 |
| 关键词: 微惯导 组合导航 Kalman滤波 |
| DOI： |
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| 基金项目: |
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| Algorithm Research on MINS/GNSS Integrated Navigation System |
| SHI Tuo,CHEN Jia-bin,TIAN Xiao-chun,SONG Chun-lei,YANG Li-ming,YIN Jing-yuan |
| (CETC 54; School of Automation, Beijing Institute of Technology) |
| Abstract: |
| Micro inertial navigation system（MINS） with the combination of the Global navigation satellite system (GNSS) can make full use of the short-term performance of MINS and the long-term stability of the GNSS.It can make up for the defects of error accumulated over time of MINS, and for the low sampling frequency and poor dynamic performance of GNSS. Thus, it can improve the precision and dynamic capabilities of integrated navigation system, and it can also ensure the system to operate a period of time autonomously at high precision when the satellite signal is shielded or failure. We use StarNeto products to collect real data and compare a variety of filtering algorithms. Experimental results show that the effect achieved by UKF is best, EKF followed, KF worst |
| Key words: MINS Intergrated navigation Kalman filter |
