摘要
由于北斗卫星所处轨道远离地球,无源北斗接收机输出伪距的误差较大,影响了与惯导进行伪距组合时的滤波定位效果。考虑到无源北斗伪距误差建模复杂,且Kalman滤波要求误差模型准确,作者研究了采用单机伪距差分的方法减少滤波量测值误差,通过理论分析建立了基于伪距差分的三星无源北斗/SINS组合模型。跑车试验表明,该组合导航算法可有效提高系统的定位精度,并具有滤波参数调整简单的优点。
Since the Beidou is in the orbit far from the earth, the error of the pseudo-range of the Beidou receiver is large enough to affect the performance of passive Beidou three-star/SINS system. Considering the complexity of Beidou pseudo-range error model and the precision of the error estimation model in Kalman filtering, the method of pseudo-range difference on a single receiver was presented to reduce the measurement error. The model of three-star/SINS integrated navigation system based on the pseudo-range difference was built based on the theory analysis. The field experiment shows that this algorithm improves the localization precision of the integrated navigation system and simplifies the filtering parameter.
出处
《中国惯性技术学报》
EI
CSCD
2007年第4期445-448,共4页
Journal of Chinese Inertial Technology
关键词
无源北斗
钟差
伪距差分
捷联惯性导航系统
组合导航
passive Beidou
clock correction
pseudo-range difference
SINS
integrated navigation
