A Constrained GPS/INS Integration Based on Rotation Angle for Attitude Update and Dynamic Models for Position Update

机译：基于旋转角度的姿态更新和动态模型的受限GPS / INS集成

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In this paper, we present a constrained fusion scheme to integrate the GPS measurements of position and velocity with the inertial measurements of acceleration and angular velocity. The basis for this integration is the ground alignment method for attitude and heading determination. rnThe advantage of using this method is having a bounded error in the estimated roll and pitch angles without the need for extra measurement of them. The time update of the position, velocity and acceleration is performed using a proper dynamic or kinematic model while attitude update of the direction cosine matrix DCM is performed using angle rotation vector. The integration algorithm is implemented using an extended Kalman filter. Ground alignment relies on measuring the gravity vector in the body frame and on the knowledge of the gravity vector in the local navigation frame.

机译：在本文中，我们提出了一种约束融合方案，将位置和速度的GPS测量与加速度和角速度的惯性测量集成在一起。这种整合的基础是确定姿态和航向的地面对准方法。使用这种方法的优点是估计的侧倾角和俯仰角有一定的误差，而无需额外测量。使用适当的动态或运动学模型执行位置，速度和加速度的时间更新，同时使用角度旋转矢量执行方向余弦矩阵DCM的姿态更新。积分算法是使用扩展的卡尔曼滤波器实现的。地面对准依赖于测量车身框架中的重力向量以及本地导航框架中的重力向量的知识。

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来源
《Proceedings of the Institute of Navigation 2009 international technical meeting (ITM 2009)》|2009年|p.1-8|共8页
会议地点 Anaheim CA(US);Anaheim CA(US)
作者
Ezzaldeen Edwan; Stefan Knedlik; Junchuan Zhou; Otmar Loffeld;
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Center for Sensorsystems (ZESS), University of Siegen, Germany;

Center for Sensorsystems (ZESS), University of Siegen, Germany;

Center for Sensorsystems (ZESS), University of Siegen, Germany;

Center for Sensorsystems (ZESS), University of Siegen, Germany;

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正文语种 eng
中图分类无线电导航;
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1. GPS/BDS/INS tightly coupled integration accuracy improvement using an improved adaptive interacting multiple model with classified measurement update [J] . Houzeng HAN, Jian WANG, Mingyi DU 中国航空学报（英文版） . 2018,第003期

机译：GPS / BDS / INS使用改进的自适应交互多模型和分类的测量更新来紧密耦合集成精度
2. A new weight updating method for INS/GPS integration architectures based on neural networks [J] . Kai-Wei Chiang, Aboelmagd Noureldin, Naser El-Sheimy Measurement Science & Technology . 2004,第10期

机译：基于神经网络的INS / GPS集成架构权重更新的新方法
3. Time variant reliability model updating in instrumented dynamical systems based on Girsanov's transformation [J] . V.S. Sundar, C.S. Manohar International journal of non-linear mechanics . 2013,第juna期

机译：基于吉尔萨诺夫变换的仪表动力系统时变可靠性模型更新
4. A Constrained GPS/INS Integration Based on Rotation Angle for Attitude Update and Dynamic Models for Position Update [C] . Ezzaldeen Edwan, Stefan Knedlik, Junchuan Zhou, Institute of Navigation International Technical Meeting . 2009

机译：基于态度更新的旋转角度的受约束GPS / INS集成和位置更新的动态模型
5. Efficient method of model updating using target definition from impedance based modeling for multi-body dynamics simulations. [D] . Wirkkala, Nels Arthur. 2007

机译：使用目标定义从基于阻抗的建模中进行多体动力学仿真的有效模型更新方法。
6. Tightly Coupled Integration of GPS Ambiguity Fixed Precise Point Positioning and MEMS-INS through a Troposphere-Constrained Adaptive Kalman Filter [O] . Houzeng Han, Tianhe Xu, Jian Wang 2016

机译：通过对流层约束的自适应卡尔曼滤波器将GPS模糊度精确点定位和MEMS-INS紧密耦合集成
7. Tightly Coupled Integration of GPS Ambiguity Fixed Precise Point Positioning and MEMS-INS through a Troposphere-Constrained Adaptive Kalman Filter [O] . Houzeng Han, Tianhe Xu, Jian Wang 2016

机译：通过对流层约束自适应卡尔曼滤波器紧密耦合Gps模糊度固定精确点定位和mEms-INs
8. The Global Positioning System (GPS) and attitude determination: Applications and activities in the Flight Dynamics Division [R] . Ketchum, Eleanor, Garrick, Joe 1995

机译：全球定位系统（Gps）和态度确定：飞行动力学部门的应用和活动

A Constrained GPS/INS Integration Based on Rotation Angle for Attitude Update and Dynamic Models for Position Update

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