| GPS/INS组合系统中姿态参数估计准确性检验方法探讨 |
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| 引用本文： | 柴艳菊,阳仁贵,王海涛,钟世明. GPS/INS组合系统中姿态参数估计准确性检验方法探讨[J]. 武汉大学学报(信息科学版), 2011, 0(6): 631-634 |
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| 作者姓名： | 柴艳菊 阳仁贵 王海涛 钟世明 |
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| 作者单位： | 中国科学院测量与地球物理研究所动力大地测量学重点实验室; |
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| 基金项目： | 国家自然科学基金资助项目(40874018,40874009); 国家杰出青年基金资助项目(40625013); 中国科学院动力大地测量重点实验室基金资助项目(L06-09) |
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| 摘 要： | 从滤波的关键矩阵——增益阵入手进行分析,发现机动条件下经典组合模型受状态预报模型不准的影响,姿态参数滤波估值及其更新方差阵偏离准确值,指出常用的姿态参数精度衡量指标不合理。提出了利用组合系统输出的载体系中某些方向速度为0的条件对姿态参数估值的准确性进行检验的思想。新的检验方法不需要增加任何额外设备,经济、方便、简单。
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| 关 键 词： | GPS/INS组合系统 姿态参数准确性 低精度INS |
Attitude Accuracy Verifying of GPS/INS Integrated System |
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| CHAI Yanju YANG Rengui WANG Haitao ZHONG Shiming. Attitude Accuracy Verifying of GPS/INS Integrated System[J]. Geomatics and Information Science of Wuhan University, 2011, 0(6): 631-634 |
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| Authors: | CHAI Yanju YANG Rengui WANG Haitao ZHONG Shiming |
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| Affiliation: | CHAI Yanju1 YANG Rengui1 WANG Haitao1 ZHONG Shiming1(1 Key Laboratory of Dynamical Geodesy,Institute of Geodesy and Geophysics,CAS,340 Xudong Street,Wuhan 430077,China) |
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| Abstract: | By analyzing the gain matrix,we find that the general index for verifying the accuracy of the attitude parameter is not reasonable on maneuver condition because the attitude estimators,and their update covariance matrix are influenced by inaccurate predictors in classical Kalman filtering.A new verifying idea according to some components of the velocity vector in body frame equal zero in the GPS/INS system is proposed.The new method need not add the additional sensors,so it is economical,convenient and simp... |
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| Keywords: | GPS/INS integrated system attitude accuracy low-cost INS |
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