一种GPS/GLONASS/INS数据融合算法A GPS/GLONASS/INS data fusion algorithm
刘毓,邹星
摘要(Abstract)：
针对卫星导航系统和惯性导航系统(INS)的不同特性,提出了一种GPS/GLONASS/INS数据融合算法。采用差分自适应检测算法、改进码平均相位算法以及位置联合解算方法实现了GPS/GLONASS数据融合,借助于改进的粒子滤波器、INS误差模型建立系统状态方程和观测方程,完成GPS/GLONASS系统速度值和INS系统速度值数据融合,提高组合导航系统精度和可靠性。使用真实数据对数据融合算法性能进行仿真分析,结果表明所设计算法是有效的,能够处理非线性非高斯条件下的滤波估计,提高滤波精度和系统可靠性。
关键词(KeyWords)： GPS/GLONASS/INS组合导航;惯导误差模型;非线性;非高斯
基金项目(Foundation): 国家自然科学基金项目(11201510);; 重庆市教委自然科学基金项目(KJ1401005)
作者(Author): 刘毓,邹星
DOI: 10.16251/j.cnki.1009-2307.2017.09.005
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