Study on Information Fusion Algorithm in Tightly Coupled GPS/SINS Integrated Navigation System

被引：0
|
作者：
Chen, Shuai [1 ]
Xue, Xiaozhong [1 ]
Du, Guoping [1 ]
Bo, Yuming [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Dept Automat, Nanjing 210094, Jiangsu, Peoples R China
来源：
2010 6TH INTERNATIONAL CONFERENCE ON WIRELESS COMMUNICATIONS NETWORKING AND MOBILE COMPUTING (WICOM) | 2010年
关键词：
strapdown inertial navigation system; global position system; Integrated navigation system; Unscented Kalman filter; tightly coupled;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
The tightly coupled GPS/SINS integrated navigation system is studied in this paper. In order to meet the requirement of precision and stability, a nonlinear error model of SINS based on additive quaternion is established and a kind of SRUKF(Square-Root Unscented Kalman Filter) algorithm is designed. Compared whith EKF, The SRUKF not only improves the location precision greatly but also avoids the calculating burden of Jacobin matrices. Simulation results show the feasibility and effectiveness of the proposed algorithm in tightly coupled GPS/SINS integrated navigation system.
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页数：4
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