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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20070528-30; Saint Petersburg(RU) >A STUDY AND VISUAL SIMULATION ON INTEGRATED INS/GRAVITY-MAP MATCHING NAVIGATION SYSTEM
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A STUDY AND VISUAL SIMULATION ON INTEGRATED INS/GRAVITY-MAP MATCHING NAVIGATION SYSTEM

机译：INS /重力地图集成导航系统的研究与可视化仿真

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摘要

In this paper the working principle of integrated INS/Gravity-map matching navigation system is studied in order to restrain the error increase of INS, which make use of the gravity-map matching information. Furthermore, a new method of gravity-map matching which is based on RANSA C is proposed to deal with the matching problem of the integrated navigation system, which is very robust even if there are outliers in the gravity data. In the aspect of system information fusion, the optimal filter technology is adopted, and error state equations, measurement equations and Kalman equations of the integrated INS/Gravity-map matching navigation system are given. Performance of the integrated navigation system is investigated by a visual simulation software system which we designed and two advanced programme language are applied to the mixed programming, including MATLAB, Visual C++. The results of simulation tests show that the integrated INS/Gravity-map matching system can provide more accurate position and velocity than the pure inertial navigation system. In other words, the INS is calibrated using gravity-matching method and high precision navigation system is achieved.
机译：为了抑制惯性导航系统误差的增加，本文研究了惯性导航系统与重力地图匹配导航系统的综合工作原理。此外，提出了一种基于RANSA C的重力地图匹配新方法，以解决组合导航系统的匹配问题，即使重力数据中存在异常值，该方法也非常可靠。在系统信息融合方面，采用了最优滤波技术，给出了组合式惯性/重力图匹配导航系统的误差状态方程，测量方程和卡尔曼方程。我们设计的视觉仿真软件系统研究了集成导航系统的性能，并将两种先进的程序语言应用于混合编程，包括MATLAB，Visual C ++。仿真测试结果表明，与纯惯性导航系统相比，集成的INS /重力地图匹配系统可以提供更精确的位置和速度。换句话说，INS是使用重力匹配方法进行校准的，并且可以实现高精度的导航系统。

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