零角度修正在GNSS/INS组合导航中的应用

摘要

研究了静止条件下零角度修正在GNSS/INS组合导航中的应用。分析了静止条件下载体航向角解算漂移的原因，给出零角度修正的具体表达式。通过更改卡尔曼滤波量测方程的方法实现航向角误差修正，并用实测数据进行实验验证。结果表明，在静止条件下单独使用零角度修正可以提高载体的航向角精度，并利于垂向陀螺零偏的估计；在零角度修正基础上结合零速修正技术，航向角精度可以进一步改善。%The application of zero-angle update in GNSS/INS integrated navigation under static condition was stud-ied in this paper. We analyzed the reason which caused the heading angle drift of the carrier, and presented the specific expression of the zero-angle update. In order to correct the error of the heading angle, the measurement e-quation of the Kalman filter was changed. And this method was verificated by measured data. The results showed that using zero-angle update alone under static condition could improve the accuracy of the carrier heading and make great contribution to the estimation of the vertical gyro bias. Combining with the zero-velocity update, heading accuracy could be further improved.