CAJ | 학술논문

在GPS/SINS组合导航系统的研究中，对基于位置/速度组合模式的研究相对成熟，而基于伪距/伪距率组合模式的研究相对较少。而基于伪距/伪距率的组合导航系统研究中又以协方差仿真居多，基于仿真数据和实测数据的研究更少。文章对基于伪距/伪距率的GPS/SINS组合导航系统进行仿真研究，建立了系统各模块的数学模型并进行Matlab仿真；然后，设定系统中各项参数，获得仿真数据；对同一组仿真数据进行基于伪距/伪距率和基于位置/速度的导航计算，并将计算结果对比研究。由实验结果可知：与基于位置/速度的组合模式相比，基于伪距/伪距率的组合模式具有更高的导航精度。
재GPS/SINS조합도항계통적연구중，대기우위치/속도조합모식적연구상대성숙，이기우위거/위거솔조합모식적연구상대교소。이기우위거/위거솔적조합도항계통연구중우이협방차방진거다，기우방진수거화실측수거적연구경소。문장대기우위거/위거솔적GPS/SINS조합도항계통진행방진연구，건립료계통각모괴적수학모형병진행Matlab방진；연후，설정계통중각항삼수，획득방진수거；대동일조방진수거진행기우위거/위거솔화기우위치/속도적도항계산，병장계산결과대비연구。유실험결과가지：여기우위치/속도적조합모식상비，기우위거/위거솔적조합모식구유경고적도항정도。
In the research of the GPS/INS integrated navigation system, the researches based on position/velocity are relatively mature, but the researches based on pseudo-range/pseudo-rang rate are relatively less. In those mi-nor researches, most of them are about covariance, and the researches using the simulating and practical data are even less. In this paper, the tightly coupled navigation system based on pseudo-range/pseudo-rang rate was studied, the mathematic model was established and simulated using Matlab. Then the results was calculated us-ing this simulating data, and in the end the results was compared to that from the experiment based on the po-sition/velocity using the same simulating data. The simulation results show that the integrated navigation system based on the pseudorange/pseudorang rate could obtain a higher precision than that based on position/velocity.