CAJ | 학술논문

　　针对GPS/INS组合导航系统中的惯性导航系统(inertial navigation system，INS)存在的随机误差的问题，研究了一种通过低通滤波器减弱或消除GPS/INS组合导航系统高频噪声的方法。分析了陀螺仪与加速度计在三轴方向上的误差源及其相关性，给出无人机组合导航系统中GPS/INS组合导航误差模型，针对INS数据中所含的高频误差，构造了低通滤波器以消除其对导航精度的影响；并通过实测 Matlab/Simulink 仿真与实测 GPS/INS 导航数据验证该低通滤波器性能。试验结果表明：采用低通滤波处理 INS高频误差显著改善了位置精度，三轴方向上精度分别提高了25%、22%和21%。
　　침대GPS/INS조합도항계통중적관성도항계통(inertial navigation system，INS)존재적수궤오차적문제，연구료일충통과저통려파기감약혹소제GPS/INS조합도항계통고빈조성적방법。분석료타라의여가속도계재삼축방향상적오차원급기상관성，급출무인궤조합도항계통중GPS/INS조합도항오차모형，침대INS수거중소함적고빈오차，구조료저통려파기이소제기대도항정도적영향；병통과실측 Matlab/Simulink 방진여실측 GPS/INS 도항수거험증해저통려파기성능。시험결과표명：채용저통려파처리 INS고빈오차현저개선료위치정도，삼축방향상정도분별제고료25%、22%화21%。
Aiming at the random error of inertial navigation system (INS) in GPS/INS integrated navigation system, research a method using a low-pass filter to attenuate or eliminate high-frequency noise in the GPS/INS integrated navigation system. Error sources and their correlations in all three axial directions of the gyroscope and the accelerometer are analyzed. An error model of the GPS/INS integrated navigation is presented for a UAV integrated navigation system. A low-pass filter is developed to eliminate the influence of the high-frequency noise in the INS data to the navigation accuracy. The performance of this low-pass filter is verified by MatLab/Simulink simulations and real GPS/INS navigation tests. The test result shows that adopt low-pass filter to deal with INS high frequency and improve position accuracy effectively. The 3 axis accuracy increase 25%, 22%and 21%separately.