一种基于GPS/INS全组合的航向自适应滤波算法

摘要

Firstly,the GPS/INS completely integrated system is discussed based on land navigation.The attitude correction effects of the completely-integrated and tightly-integrated are respectively analyzed under the kinematic state and static state.The test result is concluded that the yaw precision of the completely-integrated is obviously better than that of the tightly-integrated.And the situation of the yaw's slow divergence,appearing in the tightly-integrated when the carrier transforms from the kinematic state to static state,can be overcome by the completely-integrated.Secondly,in view of the situation that the anomaly of the kinetic model increases when the carrier is under large-angle turning,a completelyintegrated filtering algorithm which only adaptively modifies the yaw is introduced.The simulated test result shows that the influence of the dynamic model abnormity enlarged during large-angle turning can be partly weakened and the yaw precision is partly improved.%首先基于陆地导航讨论了GPS/INS全组合系统,分别在载体动态和静态两种情况下对比分析了全组合和紧组合的姿态矫正效果.实验结果表明全组合模式的航向角精度较紧组合有明显提升,且当载体由动态转为静态时,全组合模式能够克服紧组合航向角缓慢发散的现象.其次针对载体大角度转向时组合系统动力学模型异常增大的问题,提出了一种对航向角进行自适应修正的全组合滤波算法,仿真实验结果表明:该方法能够一定程度上削弱载体大角度转向时动力学模型异常的影响,航向精度有一定提高.