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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20050523-25; Saint Petersburg(RU) >REALIZATION OF SINS/SANS/GPS INTEGRATION FOR HIGH FIDELITY AND PRECISION NAVIGATION
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REALIZATION OF SINS/SANS/GPS INTEGRATION FOR HIGH FIDELITY AND PRECISION NAVIGATION

机译：SINS / SANS / GPS集成实现高保真度和精确导航

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摘要

Integrated multisensor navigation system employing astronavigation system and GPS have the potential to provide high levels of accuracy, fault tolerance, functional redundancy and greater observability of the desired navigation states. The theory and characteristics of Inertial-Astro-Satellite Integrated Navigation System based on Federated Kalman Filtering (FKF) is investigated in this paper. SANS and GPS updates are effective in estimation of gyros measurement errors, and velocity and position errors respectively. System error models required for the filtering algorithm are presented. The FKF implementation subsumed in this paper operates in no-reset mode that provides the best overall performance for fault detection and identification. Simulation results demonstrate the validity of this method on improving the navigation system's reliability and accuracy with the estimation and compensation for inertial sensors errors.
机译：采用航天导航系统和GPS的集成式多传感器导航系统具有提供所需的导航状态的高水平准确性，容错性，功能冗余和更大可观察性的潜力。本文研究了基于联合卡尔曼滤波（FKF）的惯性卫星组合导航系统的理论和特点。 SANS和GPS更新可分别有效地估计陀螺仪的测量误差以及速度和位置误差。提出了过滤算法所需的系统误差模型。本文采用的FKF实现在无复位模式下运行，该模式为故障检测和识别提供了最佳的整体性能。仿真结果证明了该方法在估计和补偿惯性传感器误差的基础上提高导航系统可靠性和准确性的有效性。

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