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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20050523-25; Saint Petersburg(RU) >A FLEXIBLE TIGHTLY COUPLED INTEGRATED NAVIGATION SYSTEM
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A FLEXIBLE TIGHTLY COUPLED INTEGRATED NAVIGATION SYSTEM

机译：灵活的紧密耦合集成导航系统

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摘要

Introduce, describe and test a Synthetic Aperture Radar (SAR)-dedicated, flexible Tightly Coupled (TC) integrated navigation system are the main focuses of this paper. The navigation system understudy was fully developed and integrated with the main goal of fulfilling all the demanding MiniSAR project requirements. Although this was the main goal, flexibility and adaptability to different applications soon started to be noticed. The increase in the implementation speed of the tightly coupled system was achieved by temporally desegregating the GNSS algorithms from the main integration filter. Two different software applications were created and developed separately: the first one with a Loosely Coupled (LC) filter tightly integrated to a three axis magnetometer; and the second one with an Extended Kalman Filter, which can process diverse combinations of GNSS observables using different types of positioning. Dynamic and static ground experiments to both software packages are presented. The results demonstrate that a high-end GPS board, using the developed GNSS software application, was out-performed. Results from the LC filter, improved with magnetic and inertial calibration, prove the working status of this application. To achieve a flexible TC integration system, all the separate modules are now tested, validated and ready for full integration.
机译：介绍，描述和测试专用于合成孔径雷达（SAR）的，灵活的紧密耦合（TC）集成导航系统是本文的重点。导航系统基础设施已得到全面开发和集成，其主要目标是满足所有苛刻的MiniSAR项目要求。尽管这是主要目标，但很快就注意到了针对不同应用程序的灵活性和适应性。通过从主集成滤波器中暂时分解GNSS算法，可以提高紧密耦合系统的实现速度。分别创建和开发了两个不同的软件应用程序：第一个软件具有紧密集成到三轴磁力计的松耦合（LC）滤波器；第二个是带有扩展卡尔曼滤波器的滤波器，它可以使用不同类型的定位来处理GNSS观测值的各种组合。给出了两个软件包的动态和静态地面实验。结果表明，使用开发的GNSS软件应用程序的高端GPS板性能不佳。 LC滤波器的结果经过磁和惯性校准的改进，证明了该应用的工作状态。为了实现灵活的TC集成系统，现在已经测试，验证了所有单独的模块，并准备进行完全集成。

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