SINS/GPS组合导航系统仿真
首发时间:2009-01-14
摘要:本文利用Matlab/Simulink的仿真环境,建立了SINS/GPS组合导航系统仿真系统。首先由轨迹发生器产生所需的模拟导航参数和IMU参数,并根据惯性传感器的误差模型,得到包含噪声的IMU参数并进行SINS导航计算;然后由模拟载体轨迹和GPS卫星参数仿真得到GPS伪距信号;最后对SINS导航参数误差和GPS输出的伪距信号进行了Kalman滤波数据融合。试验结果表明,采用紧组合结构的SINS/GPS组合导航系统能够较好地估计出导航参数和IMU参数的误差。另外通过本仿真系统能够更好的进行滤波算法和组合导航系统的进一步研究。
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Simulation of the SINS/GPS Integration Navigation System
Abstract:The SINS/GPS integrated navigation system simulation platform was established via Matlab/Simulink. Firstly, the required navigation state variables and inertial sensor parameters were generated by the trajectory generator. Then, perturbed sensed sensor signal is attained in terms of inertial sensors’ error models. From all these information, the strap-down inertial navigation states can be solved; Secondly, the pseudo-range signals can computed from the aircraft trajectories and the GPS satellites parameters; At last, the SINS navigation states errors and the pseudo-range output of the GPS system was integrated in the Kalman filter. Experiment results shown that the SINS/GPS integrated navigation system, which use the tightly coupling structure, can efficiently estimate navigation and sensors errors. In addition, this simulation platform can also be used as the basis of the further study of filtering algorithms and integrated navigation system.
Keywords: integrated navigation SINS GPS system simulation
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