| 附加约束条件对GNSS/INS组合导航结果的影响分析 |
| |
| 引用本文： | 李彦杰,杨元喜,何海波.附加约束条件对GNSS/INS组合导航结果的影响分析[J].武汉大学学报(信息科学版),2017,42(9):1249-1255. |
| |
| 作者姓名： | 李彦杰 杨元喜 何海波 |
| |
| 作者单位： | 1.信息工程大学导航与空天目标工程学院, 河南 郑州, 450000 |
| |
| 基金项目： | 国家自然科学基金41020144004A国家自然科学基金41374019国家自然科学基金41474015国家自然科学基金41274045国家高技术研究发展计划（863）2013AA122501 |
| |
| 摘 要： | 针对车载全球导航卫星系统/惯性导航系统（global navigation satellite system/inertial navigation system，GNSS/INS）组合导航中卫星信号中断，惯性导航系统单独导航误差积累较大的问题，提出了附加载体运动条件约束的卡尔曼（Kalman）滤波解算方法。通过利用载体固有的运动约束，包括近似高程约束、近似速度约束和近似姿态约束，减少载体自由度和模型参数；通过引入新的观测类型，增加观测冗余，可以加强Kalman滤波解，提高在GNSS信号中断时组合导航系统的定位精度，实现无缝导航。
|
| 关 键 词： | GNSS/INS组合导航 附加观测约束 Kalman滤波 |
| 收稿时间： | 2016-03-17 |
Effects Analysis of Constraints on GNSS/INS Integrated Navigation |
| |
| Institution: | 1.Institute of Navigation and Space Target Engineering, Information Engineering University, Zhengzhou 450050, China2.Beijing Satellite Navigation Center, Beijing 100094, China3.State Key Laboratory of Geo-information Engineering, Xi'an 710054, China |
| |
| Abstract: | A Kalman filter with kinematic motion constraints is presented to address the problem of increasing position error from INS on s vehicle when the GNSS/INS integrated navigation system is without a GNSS signal. By using the inherent motion constraints, such as approximation height constraint, velocity constraint, and attitude constraint, the freedom of motion of a vehicle will be controlled and the unknown model parameters will be reduced. Both motion constraints and new kind measurements will strengthen the solution in constraint Kalman filtering. The positioning accuracy of the GNSS/INS integrated navigation system can be improved when the GNSS signal is blocked, achieving continuous navigation. |
| |
| Keywords: | |
| 本文献已被 CNKI 等数据库收录！ |
| 点击此处可从《武汉大学学报(信息科学版)》浏览原始摘要信息 |
| 点击此处可从《武汉大学学报(信息科学版)》下载免费的PDF全文 |
