传感技术学报2016，Vol.29Issue(12)：1858-1863,6.DOI:10.3969/j.issn.1004-1699.2016.12.013
高动态GPS/INS组合导航中时间延迟软硬件 补偿算法研究
Research on Hardware and Software Compensation Algorithm of Time Delay in High Dynamic GPS/INS Integrated Navigation System*
摘要
Abstract
In the high dynamic condition,the time of the inertial navigation system is not synchronized with the time of the satellite navigation system,which leads to the decrease of the navigation precision. In order to solve this prob?lem,we propose two methods. One is the hardware compensation method which using the SINS solution of the delay time to calculate the variation of the navigation information to compensate the error caused by the serial delay of GPS. The other is software compensation method which based on Kalman filter to estimate the SINS frequency drift , a polynomial fitting is used to obtain the pseudo range of SINS at the fusion point. Through the establishment of the model,the closed-loop filter estimation and correction of SINS frequency drift and other errors are completed. The high dynamic flight simulation test is designed. The test results show that:after the compensation,the level position accuracy of the integrated navigation system reaches ± 0.12′and speed accuracy reaches 0.45 m/s when the speed is stable. This method can shorten the convergence time of the integrated navigation system,restrain the occurrence probability of the dramatical change of filter results,and improve the accuracy and performance of the integrated navigation system.关键词
组合导航/时间同步/误差补偿/卡尔曼滤波Key words
integrated navigation system/time synchronization/error compensation/Kalman filtering分类
信息技术与安全科学引用本文复制引用
杜瑾,李杰,罗丹瑶,邹坤,杨雁宇..高动态GPS/INS组合导航中时间延迟软硬件 补偿算法研究[J].传感技术学报,2016,29(12):1858-1863,6.基金项目
国家自然科学基金项目(51575500) （51575500）
