GPS/SINS组合导航一般采用位置速度组合Kalman滤波方法,此方法中姿态角,尤其是航向角不可直接观测,很难收敛,因此由较低精度的惯导系统组成的组合导航系统输出的姿态精度较低。根据车辆运动的特点,在运动过程中选择性加入GPS航迹角、加速度计测量的横滚和俯仰角等观测量,将其应用于滤波过程。仿真结果表明,新方法提高平台误差角的可观测性,加快其收敛速度,提高组合导航系统的测姿精度。

The P-V integration method based on Kalman filter is usually used on GPS/SINS integrated navigation system. But the attitude, especially azimuth, is not directly observable and then the attitude output by integrated navigation system composed by inertial navigation system with low accuracy is low accurate. Based on the character of vehicle's movement, the GPS azimuth and attitude determined by accelerometers were respectively added in observation at different period. Observation of error angles of platform was improved, convergence rate was faster. Then accuracy of attitude measurement was improved. Simulation results show that the accuracy of attitude measurement using new method is better than the pure P-V integration method.