一种基于惯性／卫星紧组合的惯导系统姿态修正方法

摘要

In order to correct the SINS attitude error, a tightly-coupled SINS/GNSS integrated navigation based SINS attitude correction approach is proposed. The system state model and measurement model are established, the parameters＇ observability is analyzed, and the SINS attitude error correction method is designed. The proposed approach＇ s feasibility and effectiveness are demonstrated through the results of vehicle experimentations.%针对惯导系统姿态修正问题，提出了一种基于惯性／卫星紧组合的姿态修正算法，建立了系统状态方程和观测方程，分析了滤波参数的可观性，设计了惯导姿态误差修正方法。车载试验结果表明，文中所提算法是可行和有效的。