In order to compensate the bad observability of SINS/GSP integrated navigation system, a new method by aiding attitude information of high-precision communication satellite antenna pointing vector (SAPV) to SINS/GPS integrated navigation system is proposed. By utilizing the mathematical model of the SAPV information to aid the integrated navigation system, the observability of attitude errors is analyzed. The relationship between SAPV and navigation error is given, which shows the feasibility for using the method of aiding integrated system with SAPV, and then the mathematical model fulfilled by Federated filter is set up. The simulation results show that the estimation precision of azimuth error could be improved by one order of magnitude by this new method, which is less than 10', and the horizontal attitude error could be less than 2'. This method can improve the precision of the attitude measurement simply by using reliable information confusion algorithm without any other hardware.%为弥补SINS/GPS组合导航系统姿态角误差可观测性差的缺陷,根据移动载体卫星天线捕获通信卫星后通过自搜索实现精确对准卫星的原理,提出增加天线指向矢量信息(SAPV)的方位角和俯仰角信息为系统观测量,用于辅助SINS/GPS组合导航系统.根据SINS/GPS组合导航系统数学模型对姿态角误差的可观测性进行了分析,并对SAPV与组合导航误差之间的关系进行了详细数学推导,证明了SAPV辅助组合导航系统的可行性,建立了SAPV辅助组合导航系统的数学模型,采用联邦滤波器进行数据融合.仿真结果表明,SINS/GPS组合导航系统通过SAPV辅助,方位角误差估计精度提高了1个数量级,小于10′,水平姿态角误差估计精度略有提高,小于2 ′.该方法充分利用了天线通过自搜索完成精确对准卫星后的高精度指向信息,无须添加任何硬件系统,通过简单可靠的信息融合算法即可达到提高载体姿态测量精度的目的.
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