针对SINS/GPS组合导航系统在GPS信号出现故障时不能正常工作的问题,提出了利用里程计与SINS组合的导航系统。在分析组合系统数学模型的基础上,设计了基于卡尔曼/状态反馈算法的新型滤波器。该滤波器基于最优控制的思想对卡尔曼滤波算法进行了改进,最终得到误差状态的估计值。仿真结果表明,改进后的卡尔曼滤波算法用于估计导航系统误差能够取得更加满意的效果。

Focused on the problem that SINS/GPS system doesn't work normally caused by trouble occurs to GPS signal, the navigation constituted by SINS and speedometer was presented in the paper. The math model of the SINS/DR was analyzed, and the new filter was designed based on the algorithm of Kalman filter/state feedback. The Kalman filter was improved based on the idea of optimal control. Then the estimation of error state was gained finally. The simulation results show that more satisfactory effect is achieved by the new filter.