摘要
在GNSS/INS车载组合导航系统中,GNSS信号易受遮挡或干扰而失锁,造成组合导航精度有所降低。针对这种情况,将虚拟卫星法应用于GNSS/INS组合导航系统中。通过增加虚拟卫星,构造虚拟观测量,将实测观测量、虚拟观测量用于组合导航Kalman滤波器解算。试验结果表明,此方法能够有效地提高系统的可观测性和导航精度。
In the land vehicle GNSS/INS navigation system,the GNSS signal easily be out of lock because of being blocked or jammed,then the navigation accuracy would decreased.In order to solve this problem,virtual satellite algorithm was implemented to GNSS/INS integration.By adding virtual satellites,the virtual observations were constructed,and then the virtual observations and the real observations were able to be provided to carry on a solution for kalman filter.The result of the experiment indicated that the observability and navigation accuracy were able to be improved.
出处
《测绘科学技术学报》
北大核心
2012年第2期105-108,共4页
Journal of Geomatics Science and Technology
基金
国家自然科学基金项目(41074011)
关键词
组合导航
虚拟卫星法
可视卫星数
虚拟观测值
KALMAN滤波
integration navigation
virtual satellite algorithm
number of visible satellites
virtual observation value
Kalman filter
