摘要
在低精度MEMS-IMU和GPS组合导航中,由于IMU的精度问题,无法通过传统的解析方法实现方位失准角的粗对准,造成了大方位失准角问题,从而导致系统的强非线性。通过变换状态量,用方位失准角的两个三角函数代替方位失准角作为状态量,建立了新的线性系统方程。用改进奇异值分解法对新对准系统进行可观测度分析,完成了车载导航试验,结果表明:本初始对准方案在低精度的组合导航中具有很好的对准精度和对准速度。
In the integration of GPS and low accuracy MEMS-IMU, the traditional ana- lytic method is difficult to be employed in the coarse initial alignment since the state equa- tions are strong nonlinear due to the low accuracy of IMU and the derived large azimuth. In this paper, the trigonometric variables of the azimuth, rather than the azimuth, are included in the estimated states so that the state equations are linear even though the azimuth angle is large. The observability of the new alignment system is analyzed by an improved mean of SVD. A car test proved that the new scheme of initial alignment had an ideal accuracy and speed in the low accuracy integrated navigation system.
出处
《全球定位系统》
2014年第6期1-5,共5页
Gnss World of China
关键词
GPS/INS组合导航
初始对准
大方位失准角
可观测分析
GPS/INS integrated navigation initial alignment large heading uncertain-ty
observability analysis
