兵工自动化2017，Vol.36Issue(10)：6-10,5.DOI:10.7690/bgzdh.2017.10.002
发射系下SINS/GPS组合导航系统的算法研究
Study of Algorithm for SINS/GPS Integrated Navigation System in Launch Inertial Coordinate System
摘要
Abstract
Traditional strapdown inertial navigation algorithm based on geography coordinate system can not directly obtain the navigation parameters under launch inertial coordinate system. It's difficult for high orbiters such as aerospace vehicles to be provided with high precision, high reliability navigation system. Therefore, this paper carried out a research on the strapdown inertial navigation algorithm under launch inertial coordinate system and established SINS/GPS inertial navigation model on the basis of extended Kalman filter. The navigation measurement information obtained by the sensors under launch inertial coordinate system was directly used to calculate position and attitude of the aircraft. To verify the validity of the integrated navigation algorithm, the hardware platform based on XSENS inertial device, GPS receiver and STM32 embedded system was established. Experimental results indicated that the SINS/GPS integrated navigation system under launch inertial coordinate system can achieve higher navigation precision. Thus algorithm proposed in this paper is valid and reasonable.关键词
发射惯性系/SINS/GPS组合导航/EKF/硬件平台Key words
launch inertial coordinate system/SINS/GPS integrated navigation/extended Kalman filter/hardware platform分类
军事科技引用本文复制引用
殷德全,熊智,施丽娟,林爱军,郁丰..发射系下SINS/GPS组合导航系统的算法研究[J].兵工自动化,2017,36(10):6-10,5.基金项目
国家自然科学基金(61533009, 61374115) （61533009, 61374115）
江苏省六大人才高峰资助(2013-JY-013) （2013-JY-013）
江苏高校优势学科建设工程、中央高校基本科研业务费专项资金(NP2015406, NP20152212) （NP2015406, NP20152212）
南京航空航天大学大学研究生创新基地(实验室)开放基金资助(kfjj20150315) （实验室）
