利用牛顿插值的GPS/INS组合导航惯性动力学模型

李增科; 高井祥; 王坚; 胡洪

doi:10.13203/j.whugis20120190

利用牛顿插值的GPS/INS组合导航惯性动力学模型

¹ 中国矿业大学国土环境与灾害监测国家测绘局重点实验室,江苏徐州,221116;² 中国矿业大学江苏省资源环境信息工程重点实验室,江苏徐州,221116

基金项目: 国家863计划资助项目(2013AA12A201)；国家自然科学基金资助项目(41074010)；江苏高校优势学科建设工程资助项目(SZBF2011-6-B35)；江苏省普通高校研究生科研创新计划资助项目 (CXZZ12_0939)

详细信息

作者简介:
李增科,博士生,研究方向为GPS/INS组合导航。

中图分类号: P228.41
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出版历程
- 收稿日期: 2013-02-15
- 修回日期: 2014-05-04
- 发布日期: 2014-05-04

Inertial Dynamic Model of GPS/INS Integrated NavigationBased on Newton Interpolation

¹Key Laboratory for Land Environment and Disaster Monitoring of SBSM,China University of Mining and Technology,Xuzhou 221116,China;²Jiangsu Key Laboratory of Resources and Environmental Information Engineering,China University of Mining and Technology,Xuzhou 221116,China

Funds: The National 863Program of China,No.2013AA12A201;the National Natural Science Foundation of China,No.41074010;the Priority Academic Program Development of Jiangsu Higher Education Institutions,No.SZBF2011-6-B35;the GraduateStudent Research and Innovation Program in Jiangsu Province,No.CXZZ12_0939.

More Information

Author Bio:
LI Zengke,PhD candidate,specializes in the GPS/INS integrated navigation.

摘要

摘要: 目的针对GPS/INS组合导航中INS动力学建模不准确的问题,提出了一种基于牛顿插值的GPS/INS组合导航惯性动力学多阶建模算法。首先,介绍了牛顿插值的计算方法;然后,利用其对惯性系统Gauss-Mark-ov模型进行改进,实现了多阶建模;最后,给出了组合导航详细的动力学模型和观测模型。利用实测数据对算法进行验证,并通过对比不同阶数建模方法寻求牛顿插值的最优建模阶数。结果表明,相比于传统Gauss-Markov过程,基于牛顿插值的GPS/INS组合导航惯性动力学模型能够有效提高组合导航位置精度和姿态精度。与此同时,实验分析表明,4阶牛顿插值建模在实现模型准确性的前提下,降低了模型的复杂性,为牛顿插值建模阶数选取提供了良好的借鉴。
- GPS/INS组合导航 /
- 牛顿插值 /
- 动力学模型 /
- Gauss-Markov过程
Abstract: Objective In GPS/INS integrated navigation,the low precision of the INS dynamic model reduces nav-igation accuracy.Based on Newton interpolation,a multi-order dynamic model algorithm for GPS/INSintegrated navigation is proposed.First,the detail algorithm of Newton interpolation is introduced.Based on this a Gauss-Markov model of the inertial system is modified to realize the multi-order mod-el.The design formulas of the observation and dynamical models are presented.Finally,an actual cal-culation was performed to test the validity of new algorithm.The results of the experiment indicatethat when compared with the Gauss-Markov model,the inertial dynamic model for GPS/INS integrat-ed navigation based on Newton interpolation can improve the position and attitude precision effective-ly.At the same time,an analysis of the experiment shows that a 4-order Newton interpolation modelnot only enhances model precision,but also reduces model complexity,which provides a good refer-ence for order selection in the Newton interpolation model.
- GPS/INS integrated navigation /
- Newton interpolation /
- dynamic model /
- Gauss-Markovprocess