GPS/INS组合导航数据同步时标的计算方法研究

摘要

A real time GPS latency determination algorithm is introduce based on yaw rate matching method by incorporating GPS and inertial sensors, to solve information synchronization of GPS and INS in data fusion procedure. The result can be used for matching the time label of GPS data and inertial sensor data to improve the accuracy of the integrated navigation and vehicle states estimation. The method is self-contained in the integrated system and it could be utilized in external device. Experiment result proves that GPS latency keeps stable in short period and the modification can be quite favorable.%以GPS/INS组合导航系统为应用背景,针对GPS数据和惯性数据中时间同步的问题,提出了基于横摆角速度匹配、实时计算GPS延迟的方法,用于修正惯性数据与GPS的同步时标,提高了组合导航和车辆状态检测的精度.实验结果表明,计算得到的GPS延迟能够起到较好的修正效果.该方法仅利用导航系统数据,无需汽车内部参数和采集信号,具有自主性,有利于应用于外置检测和导航系统.