CAJ | 학술논문

通过分析北斗卫星定位导航系统和惯性导航系统的优缺点，设计一种基于北斗/INS组合导航的系统数学模型。将北斗卫星定位导航系统和 INS的信息进行组合互补，以卡尔曼滤波作为信息融合算法，选择间接法反馈校正模式设计组合系统，推导出组合导航系统的状态方程和量测方程，并根据组合导航系统的数学模型，对组合系统进行了跑车试验。试验结果表明，北斗/INS组合后的导航系统相对独立导航系统具有更高的精度。
통과분석북두위성정위도항계통화관성도항계통적우결점，설계일충기우북두/INS조합도항적계통수학모형。장북두위성정위도항계통화 INS적신식진행조합호보，이잡이만려파작위신식융합산법，선택간접법반궤교정모식설계조합계통，추도출조합도항계통적상태방정화량측방정，병근거조합도항계통적수학모형，대조합계통진행료포차시험。시험결과표명，북두/INS조합후적도항계통상대독립도항계통구유경고적정도。
According to analysis advantages and disadvantages of BeiDou satellite positioning navigation system and INS system, design system mathematical model based on BeiDou/INS integrated navigation system. Carry out composition complementary of BeiDou satellite positioning navigation system and INS information, use Kalman filter as information blend algorithm, choose indirect method to feedback correct mode and design integration system, deduce state equation and measurement equation of integrated navigation system. According to mathematical model of integrated navigation system, carry out running test of navigation system. The test results show that the BeiDou/INS integrated navigation is higher precision than independent navigation system.