CAJ | 학술논문

利用三个陀螺仪和一个里程计提出一种新型GPS/DR组合导航系统。首先推导了这种组合导航系统的状态方程，然后给出了松组合方式的滤波方程。最后用实测算例对这种新型组合导航系统进行了验证，结果表明，相比于SINS系统、传统的DR系统，这种DR系统在车载系统应用中具有更好的优势；而且这种组合导航系统能够很好地提高单一导航系统的导航精度。
이용삼개타라의화일개리정계제출일충신형GPS/DR조합도항계통。수선추도료저충조합도항계통적상태방정，연후급출료송조합방식적려파방정。최후용실측산례대저충신형조합도항계통진행료험증，결과표명，상비우SINS계통、전통적DR계통，저충DR계통재차재계통응용중구유경호적우세；이차저충조합도항계통능구흔호지제고단일도항계통적도항정도。
In this paper,a new GPS/DR integrated navigation system consisting of three gyros and one odometer is presen-ted. The state equation of this integrated navigation system is deduced. The filtering equation of the loose integration mode of this new GPS/DR system is given. The new GPS/DR integrated navigation system was verified by actual calculation. The result shows that the new DR system has more superior than SINS system and traditional DR system,and this new GPS/DR integrated navigation system can improve the navigation accuracy the simplex navigation system.