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Received:April 23, 2009
Received:April 23, 2009
中文摘要: 针对GPS卫星信号易受干扰,不稳定的问题,提出INS/GPS组合导航抗干扰的方法并用硬件电路进行实现验证。给出了惯性器件的误差模型,采用松散组合方式,设计卡尔曼滤波器,取姿态、速度、位置的误差作为状态变量。提出以INS与GPS输出的东北天向速度误差作为滤波器观测量的方案。通过计算机的仿真和实验验证,对系统的精度进行了分析,证明该方案是可行的,实现实时滤波计算,并能满足导航的精度要求。
中文关键词: 抗干扰 组合导航 卡尔曼滤波
Abstract:In order to resolve the problems of easily interfered and unstable GPS signal, this paper puts forward the INS/GPS integrated navigation method and uses hardware circuit to verify the method. With given INS error model, it designs Kalman filter based on INS/GPS integrated navigation system, which takes posture, speed and position error as state variables. The paper takes east, north and vertical direction velocity error of INS and GPS outputs as the combination filter observation scheme. It uses simulation and experiments to analyze system precision and prove that this scheme is feasible. Then it can also realize the real-time filtering calculation, and meet the demand of navigation accuracy.
文章编号: 中图分类号: 文献标志码:
基金项目:
Author Name | Affiliation |
YANG Fu-Yu | 辽宁工程技术大学 电子与信息工程学院 辽宁 葫芦岛 125105 |
NAN Jing-Chang |
Author Name | Affiliation |
YANG Fu-Yu | 辽宁工程技术大学 电子与信息工程学院 辽宁 葫芦岛 125105 |
NAN Jing-Chang |
引用文本:
杨富玉,南敬昌.GPS信号自适应抗干扰系统.计算机系统应用,2010,19(1):55-57
YANG Fu-Yu,NAN Jing-Chang.Adaptive Anti-Interference of GPS.COMPUTER SYSTEMS APPLICATIONS,2010,19(1):55-57
杨富玉,南敬昌.GPS信号自适应抗干扰系统.计算机系统应用,2010,19(1):55-57
YANG Fu-Yu,NAN Jing-Chang.Adaptive Anti-Interference of GPS.COMPUTER SYSTEMS APPLICATIONS,2010,19(1):55-57