摘要
GPS／SINS组合导航系统是综合了SINS自主性和GPS高精度优点的现代导航系统，具有导航精度高、可靠性好、小型化等特点，是现代导航系统的发展方向之一。本文的主要工作包括：1)对捷联惯导系统(SINS)和全球定位系统(GPS)的误差进行了分析；对捷联惯导系统中姿态矩阵的计算误差及惯导系统的误差特性进行了仿真。2)研究了GPS／SINS组合导航系统的组合模式，并在此基础上，建立了集中式卡尔曼滤波的状态方程和测量方程，并对位置、速度组合开环卡尔曼滤波方式进行了仿真分析。对比发现GPS／SINS组合导航系统提高了导航精度，满足导航要求。3)针对集中式卡尔曼滤波计算量大和容错能力差的缺点，本文研究了联合卡尔曼滤波算法。分析了其融合模式及容错性能，并对一种自适应联合卡尔曼滤波算法进行了研究。
GPS/SINS integrated navigation system gathers the advantages of both GPS and SINS. It has the specialty of high precision, good reliability and small volume. It is one of the development directions of modern navigation system. The content of this paper includes three aspects: l)The error models of GPS and SINS were studied respectively, and the error characteristics of SINS were simulated. 2) Based on the research of integrate models of GPS/SINS, the estate equation and the measure equation of centralized Kalman filter were established, and the position-velocity integrate Kalman filter was simulated. Contrast with SINS, the GPS/SINS integrated navigation system enhance navigation precision and satisfy the navigation requiring. 3) According to the disadvantages of centralized Kalman filter, in this paper, the federated filter was researched. The inosculate models and the characteristics of fault tolerance were analyzed. And a kind of adaptive federated Kalman filter algorithm was researched.
引文
[1] 万德均，房建成．GPS动态滤波的理论、方法及其应用．南京：江苏科学技术出版社，2000
[2] 任思聪．实用惯导系统原理．北京：宇航出版社，1988
[3] 刘基余．GPS卫星导航定位原理与方法．北京：科学出版社，2003
[4] 王惠南．GPS导航原理与应用．北京：科学出版社，2003
[5] 以光衢．惯性导航原理．北京：航空工业出版社，1987
[6] 袁建平等．GPS在飞行器定位导航中的应用．西安：西北工业大学出版社，2000
[7] 丁衡高．惯性技术文集．北京：国防工业出版社，1994
[8] 陈哲．捷联惯导系统原理．北京：宇航出版社，1986
[9] 孙枫等．组合导航系统．哈尔滨：哈尔滨工业大学出版社，1996
[10] 董绪荣等．GPS／INS组合导航定位及其应用．长沙：国防科技大学出版社，1998
[11] 张守信．GPS卫星测量定位理论与应用．长沙：国防科技大学出版社，1996
[12] 秦永元等．卡尔曼滤波与组合导航原理．西安：西北工业大学出版社，1998
[13] 陈新海．最优估计理论．北京：北京航空学院出版社，1987
[14] 俞济祥．卡尔曼滤波及其在惯性导航中的应用．北京：航空专业教材编审组，1984
[15] Mattthews A, Wetter H. Cost-effective high-accuracy inertial navigation. Navigation. 1989,36 (2):243-249.
[16] Lee J G, Park C G, Park H W. Multiposition alignment of strapdown inertial navigation system. IEEE Transactions on Aerospace and Electronic Systems, 1993,29(4).
[17] Da,R.,et al.,A New Failure Detection Approach and its Application to GPS Autonomous Integrity Monitoring, IEEE Trand. on Aerospace and 506 Electronic Systems, 1995,31(1):499-506
[18] 温武等．INS／GPS组合导航集中式卡尔曼滤波器的仿真研究．导航．2002(4)：41-49
[19] 顾启泰等．MIMS／GPS组合导航系统设计与实验．航空学报．2003(3)：269-272
[20] 张海涛等．自适应卡尔曼滤波方法及其在容错组合导航系统的系统级故障检测中的应用．中国惯性技术学报．2001(4)：15-20
[21] 林元烈．应用随机过程．北京：清华大学出版社，2002
[22] 袁信．导航系统．北京：航空工业出版社，1993
[23] 黄晓瑞等．GPS／INS组合导航系统自适应滤波算法与仿真研究．飞行力
学．2001(2)：69-72
[24] 耿延睿，崔中兴．组合导航系统卡尔曼滤波衰减因子自适应估计算法研究．中国惯性技术学报．2001(4)：8-10
[25] 赵伟，袁信，林雪原．采用H_∞滤波器的GPS／INS全组合导航系统研究．航空学报．2002(3)：265-267
[26] 衣晓等．基于不同局部模型的联合滤波算法研究．中国惯性技术学报．2002(5)：16-19
[27] 顾启泰等．联邦滤波器信息分配系数的优选算法．中国惯性技术学报．2003(6)：1-6
[28] 马艳．一种智能化的组合导航方法．青岛大学学报．2003(4)：48-50
[29] 刘危等．一种新型的GPS／SINS导航系统对准方法．中国惯性技术学报．2003(6)：17-19
[30] 陈靓影等．GPS与惯性导航系统融合的精确连续定位算法．通信学报．1999(8)：32-35
[31] 祝勇刚，徐正扬．惯性测量系统的理论与应用．北京：测绘出版社，1984
[32] Paul G S. Strapdown inertial navigation integration algorithm design, part 1: Attitude algorithms, Journal of Guidance Control and Dynamics, 1998,21(1).
[33] Carlson, N.A., Federated Filter for Fault-Tolerant Integrated Navigation Systems, 1988, Proc.of IEEE Trans. on Auto. Control, 1988,33(1):88-94
[34] Allison N. Ramjattan and Paul A. Cross, A Kalman Filter Model for an Integrated Land Vehicle Navigation System, Navigation.Vol.48.No.2.1995
[35] 张男等．GPS／INS组合导航系统设计及实现方案．遥感技术与应用．2002(2)：70-73
[36] 王惠南等．采用卡尔曼滤波器的GPS／INS姿态组合系统研究．中国惯性技术学报．2000(3)：1-7
[37] 林敏敏等．GPS／SINS组合导航系统混合校正卡尔曼滤波方法．中国惯性技术学报．3003(3)：29-34
[38] Mark Dumbille and Maria Tsakiri. An Adaptive Filter for Land Navigation Using Neural Computing-Proceedings of the International Techrated INS/GPS mechanization flight test results. Position Location and Navigation Symposium, 1992. Record. '500 Years After Columbus - Navigation Challenges of Tomorrow'. IEEE PLANS '92., IEEE, 23-27 March 1992
[39] Wang Bin, Wang Jian, Wu Jianping, Cai Baigen. Study on adaptive GPS/INS integrated navigation system. Intelligent Transportation Systems, 2003. Proceedings.
2003 IEEE, Volume: 2,12-15 Oct. 2003
[40] Diesel.J, Perrin.R. New integrated. INS/GPS mechanization flight test results. Position Location and Navigation Symposium, 1992. Record. '500 Years After Columbus - Navigation Challenges of Tomorrow'. IEEE PLANS '92., IEEE, 23-27 March 1992