一种新的GPS/SINS组合测姿模型

A Novel Model for Attitude Determination by Using GPS/SINS Integrated System

摘要:

针对多天线GPS/SINS组合测姿中存在的精度不够和难以实现的问题,研究了一种新的GPS/SINS组合测姿模型；利用GPS载波相位高精度相对定位技术,在传统“速度+位置”松组合的基础上,加入了基于基线向量误差的姿态量测方程,提出了一种精度较高并且较易实现的GPS/SINS组合测姿模型；基于某飞行仿真航迹对模型的测姿性能进行了数值仿真,并与传统测姿模型进行了对比分析；仿真结果表明,与传统模型相比,新的测姿模型可以显著提高导航系统测姿精度和滤波收敛速度,偏航角、俯仰角测量精度可达0.02°,滚动角测量精度可达0.1°,可为飞行器的高精度组合测姿提供一定的参考价值。

关键词:测姿;载波相位;卡尔曼滤波;基线向量

Abstract:

A novel attitude determination model is proposed to improve the precision and realization of multi-antenna GPS/SINS integrated system. Attitude measurement equation based on baseline vector is established by using loosely coupled GPS/SINS system and GPS carrier phase high-precision relative positioning. According which a more accurate and accessible model of GPS/SINS attitude determination is proposed. The ability of attitude determination for the model is tested and compared with the traditional model by flying a trace in numerical simulation. The results show that the proposed model of attitude determination improves the precision and convergence obviously. The precision of yaw angle and pitch angle can be 0.02° and the roll angle can be 0.1°. This model can offer reference value for aerocrafts’ high-accuracy integrated attitude determination.

Key words:attitude determination; carrier phase; Kalman filtering; baseline vector