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首页> 外文会议>2012 Second International Conference on Business Computing and Global Informatization. >Tightly Coupled GPS/INS Integrated Navigation Algorithm Based on Kalman Filter
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Tightly Coupled GPS/INS Integrated Navigation Algorithm Based on Kalman Filter

机译：基于卡尔曼滤波的紧耦合GPS / INS组合导航算法

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摘要

For the respective performance characteristics of the global positioning system (GPS) and inertial navigation system (INS), a tightly coupled GPS/INS integrated navigation system based on the pseudo-distance difference was proposed. The paper presents the detail study and theoretical analysis of the kalman filter algorithm for the GPS/INS integrated navigation system, and focuses on the establishment of the system model state equation and observation equation, which is the basis of the system simulation. The simulation result shows that the kalman filter algorithm and tightly coupling mode for the integrated navigation system effectively improve the long-term positioning accuracy, and enhance the anti-interference performance of the GPS navigation equipment.
机译：针对全球定位系统（GPS）和惯性导航系统（INS）各自的性能特点，提出了一种基于伪距离差的紧密耦合GPS / INS组合导航系统。本文对GPS / INS组合导航系统的卡尔曼滤波算法进行了详细的研究和理论分析，着重于建立系统模型状态方程和观测方程，这是系统仿真的基础。仿真结果表明，组合导航系统的卡尔曼滤波算法和紧密耦合模式有效提高了长期定位精度，增强了GPS导航设备的抗干扰性能。

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