Kalman滤波应用于GPS相对导航信息解算方法

摘要

Accurate relative position and azimuth are required for ship formations.GPS pseudo-range information is received for single difference,the single difference is used to establish the relative navigation model between two vessels as observation measurement,then kalman filter is applied to resolve the relative distance and azimuth between two vessel.Some experiment is taken out,the processing result of experiment data shows that the distance determination accuracy is prior to 0.2m,and the azimuth determination accuracy is prior to 5°.%舰艇编队航行协同作战,必须精确确定编队成员间的相对位置和方位,即进行相对导航.研究利用GPS伪距信息进行差分,以卫星伪距差分信息作为观测量,以跟踪船相对目标船的位置信息作为状态量,建立相对导航模型,利用卡尔曼滤波解算跟踪船相对目标船的位置信息,从而获得跟踪船相对目标船的距离和方位信息.应用此方法进行实测实验,结果表明测距精度优于0.2m,方位精度优于5°.