| 引用本文: | 何晓峰,胡小平,唐康华.无缝GPS／INS组合导航系统的设计与实现.[J].国防科技大学学报,2008,30(1):83-88.[点击复制] |
| HE Xiaofeng,HU Xiaoping,TANG Kanghua.Design and Evaluation of a Seamless GPS/INS Integrated Navigation System[J].Journal of National University of Defense Technology,2008,30(1):83-88[点击复制] |
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| 无缝GPS／INS组合导航系统的设计与实现 |
| 何晓峰, 胡小平, 唐康华 |
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(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 针对GPS卫星信号失锁条件下GPS/INS组合导航性能大幅度下降的缺点，设计了一种基于ANFIS的无缝组合导航方法，当卫星数目不低于4颗时采用伪距/伪距率的卡尔曼滤波算法，一旦卫星数目少于4颗时采用ANFIS系统估计导航误差，抑制INS的误差积累，从而实现无缝导航。动态车载实验表明，该方法切实可行，相对于传统的紧组合方法，有效地提高了组合导航系统的定位精度和抗干扰能力。 |
| 关键词: 组合导航 卡尔曼滤波 自适应神经模糊推理系统 无缝 紧组合 |
| DOI： |
| 投稿日期：2007-08-12 |
| 基金项目:国家863计划资助项目（2006AA12Z319）；高等学校博士学科点专项科研基金资助项目（20069998009） |
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| Design and Evaluation of a Seamless GPS/INS Integrated Navigation System |
| HE Xiaofeng, HU Xiaoping, TANG Kanghua |
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(College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China)
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| Abstract: |
| A new seamless integrated navigation algorithm was proposed on the basis of ANFIS in order to enhance the performance of GPS/INS integrated navigation system during GPS outages. The algorithm adopted Kalman filter with pseudorange and pseudorange rate observations when the number of GPS satellites was not less 4. Otherwise, ANFIS was used to estimate the navigation errors and restrain the increasing INS errors. Experiments show that the new algorithm can improve the performance of integrated system effectively and enhance the horizontal position accuracy than traditional tight integration algorithms. |
| Keywords: integrated navigation kalamn filtering adaptive neuro-fuzzy inference system seamless tight integration |
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