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- 2017
附加约束条件对GNSS/INS组合导航结果的影响分析
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Abstract:
针对车载全球导航卫星系统/惯性导航系统（global navigation satellite system/inertial navigation system，GNSS/INS）组合导航中卫星信号中断，惯性导航系统单独导航误差积累较大的问题，提出了附加载体运动条件约束的卡尔曼（Kalman）滤波解算方法。通过利用载体固有的运动约束，包括近似高程约束、近似速度约束和近似姿态约束，减少载体自由度和模型参数；通过引入新的观测类型，增加观测冗余，可以加强Kalman滤波解，提高在GNSS信号中断时组合导航系统的定位精度，实现无缝导航
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