根据惯性/重力匹配组合导航系统的工作原理和特点,提出了基于RANSA思想的重力图匹配方法,采用此方法实现了重力图的鲁棒匹配.通过建立组合导航系统的数学模型,采用最优滤波技术实现了组合导航系统的信息融合.在此基础上,采用多种高级语言混合编程,设计实现了一套可视化的仿真软件,对该系统进行了可视化仿真研究.仿真实验结果表明,惯性/重力匹配组合系统相对于无辅助的惯性导航系统,其定位精度、速度精度均有较大的提高,也就是说采用重力匹配方法达到了校正惯导系统,实现高精度导航的目的.%Based on the principle and performance of integrated INS/Gravity-map matching navigation system, a gravity-map matching method based on RANSAC was presented to restrain the error increase of INS, which is very robust even if there are outliers in the gravity data. In the aspect of system information fusion, the optimal filter technology was adopted, and the error state equations, measurement equations and Kalman equations of the integrated INS/Gravity-map matching navigation system were given. The performance of the integrated navigation system was investigated by a designed visual simulation software system, and two advanced programming languages were applied into 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, i.e. the method can calibrate INS and achieve high precision navigation.
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