MEMS-INS/GPS双星组合定位方法研究

摘要

提出了一种GPS不足4颗星情况下的双星组合定位方法.利用微机械惯导系统短时间自主导航定位的优良特性,建立双星组合定位的误差方程,同时利用GPS导航系统自身的卫星测量信息,设计双星组合定位导航系统的卡尔曼滤波器来实现微机械惯导和GPS卫星信息的最优融合.通过微机械惯导和GPS的信息融合,实现GPS在2颗卫星情况下的组合定位.实验结果表明,在GPS卫星导航收星条件差的情况下,双星组合导航具有较好的定位精度.%A new method of MEMS-INS/GPS double star integrated positioning is proposed. Using the excellent peculiarity of short time self navigation positioning for MEMS-INS, double star integrated positioning error equation is established. The Kalman filter of double star integrated navigation system is designed with the help of GPS self satellite observation information, which can fuse the information of MEMS-INS and GPS fully. Experimentation results show that double star integrated navigation has higher precision in the condition of bad satellite navigation for GPS.