| 基于单GPS观测的SINS姿态校正方法 |
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| 引用本文： | 王新国,王跃刚,许化龙,李爱华.基于单GPS观测的SINS姿态校正方法[J].火力与指挥控制,2010,35(1). |
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| 作者姓名： | 王新国 王跃刚 许化龙 李爱华 |
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| 作者单位： | 第二炮兵工程学院,西安,710025 |
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| 摘 要： | 针对车(船)载惯性和GPS组合导航系统(INS/GPS),研究单天线GPS对INS的姿态校正方法。提出一种基于单天线GPS进行捷联惯导(SINS)机动中对准和姿态校正方法,该方法以GPS两个不同时刻的不共线速度向量为参考向量,利用TRIAD算法进行姿态确定,并设计了Kalman滤波器估计姿态四元数。仿真试验表明该方案能较好地校正惯导系统的初始对准误差,并通过实时校正保持长期的姿态精度。
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| 关 键 词： | 惯导 姿态确定 自适应滤波 |
SINS Attitude Correcting Algorithm based on Single Antenna GPS |
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| WANG Xin-guo,WANG Yue-gang,XU Hua-long,LI Ai-hua.SINS Attitude Correcting Algorithm based on Single Antenna GPS[J].Fire Control & Command Control,2010,35(1). |
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| Authors: | WANG Xin-guo WANG Yue-gang XU Hua-long LI Ai-hua |
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| Abstract: | Research on three-axis attitude correction method of strapdown inertial navigation system (SINS) applied in vehicle or boats.Present a real-time algorithm to align INS and correct attitude errors online based on single antenna GPS.In the algorithm, two noncollinear velocity vectors measured by GPS at different time point are used in TRIAD attitude determination.An Kalman filter was designed to estimate the attitude quaternion.For checking the algorithm, simulations are done use the algorithm, and the result indicates that this method can correct the alignment errors and keep longtime attitude precision. |
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| Keywords: | GPS INS GPS attitude determination adaptive filtering |
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