六加速度计的GFSINS/GPS组合导航系统研究

摘要

In Gyroscope Free Strap down Inertial Navigation System (GFSINS), angular velocity error is closely related to the accelerometer measurement error. Accelerometers measurement error can lead to rapid divergence of Inertial Navigation System parameters over time. In order to solve this problem, error equations of GFSINS with a kind of six accelerometers are derived based on traditional SINS. GFSINS / GPS Integrated Navigation System is composed by Kalman filter. Simulation results show that the navigation system can effectively control the divergence of navigation parameters.%无陀螺捷联惯导系统(GFSINS)的角速度解算误差与加速度计测量误差紧密相天,加速度计测量误差会导致整个惯导系统导航参数随时问快速发散.针对这一问题,在传统捷联惯导系统的基础上,基于某种六加速度计配置方式,推导了尢陀螺捷联惯导系统误差方程,利用卡尔曼滤波器组成了GFSINS/GPS组合导航系统.经仿真验证,该组合导航系统可以有效抑制导航参数发散.