电讯技术2017，Vol.57Issue(2)：151-156,6.DOI:10.3969/j.issn.1001-893x.2017.02.005
一种高精度的BDS/INS紧耦合测姿算法
A High Precision Attitude Determination Algorithm for Tightly Coupled BDS/INS
摘要
Abstract
For the problem of low accuracy and stability in attitude determination of BeiDou Navigation Sat―ellite System( BDS) ,this paper proposes a tightly coupled attitude determination algorithm based on BDS and Inertial Navigation System( INS) . First,the error model of BDS attitude determination algorithm based on the BDS observation is designed. Then,the extended Kalman filtering( EKF) is designed with the error state equation as the system state equation and the carrier phase as main observation. And the filter output is used to correct the attitude determination of INS. Finally,static tests,dynamic tests and obscured tests are perform to verify the algorithm. The proposed algorithm can dramatically improve the accuracy,stability and output frequency of BDS attitude,and the accuracy of the yaw reaches 0. 15°.关键词
"北斗"导航系统/惯性导航系统/组合姿态测量/载波相位/扩展卡尔曼滤波Key words
BeiDou navigation satellite system ( BDS )/inertial navigation system ( INS )/integration atti―tude determination/carrier phase/extended Kalman filtering( EKF)分类
信息技术与安全科学引用本文复制引用
蒋青,张跃仲..一种高精度的BDS/INS紧耦合测姿算法[J].电讯技术,2017,57(2):151-156,6.基金项目
国家自然科学基金资助项目(61301126) （61301126）
重庆邮电大学博士启动基金(A2012-33) （A2012-33）
