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Tightly Coupled GPS/INS Integrated Navigation Algorithm Based on Kalman Filter

机译:基于卡尔曼滤波器的紧密耦合GPS / INS集成导航算法

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For the respective performance characteristics of the global positioning system (GPS) and inertial navigation system (INS), a tightly coupled GPS/INS integrated navigation system based on the pseudo-distance difference was proposed. The paper presents the detail study and theoretical analysis of the kalman filter algorithm for the GPS/INS integrated navigation system, and focuses on the establishment of the system model state equation and observation equation, which is the basis of the system simulation. The simulation result shows that the kalman filter algorithm and tightly coupling mode for the integrated navigation system effectively improve the long-term positioning accuracy, and enhance the anti-interference performance of the GPS navigation equipment.
机译:对于全球定位系统(GPS)和惯性导航系统(INS)的各个性能特征,提出了一种基于伪距离差异的紧密耦合的GPS / INS集成导航系统。 本文介绍了GPS / INS集成导航系统的Kalman滤波器算法的详细研究和理论分析,并专注于建立系统模型状态方程和观察方程,这是系统仿真的基础。 仿真结果表明,Kalman滤波器算法和紧密耦合模式用于集成导航系统有效地提高了长期定位精度,增强了GPS导航设备的抗干扰性能。

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