结合工程实际应用,以低成本MEMS陀螺捷联惯性测量单元为主,以GPS,ADS为辅助,设计完成了一套机载组合导航系统。该系统充分考虑了各传感器的优缺点,采用误差补偿技术,保证了系统的精度和可靠性。首先介绍了系统的组成及功能;在此基础上,建立了状态变量为29维的组合系统动态方程,给出了用于卡尔曼滤波的GPS和ADS的误差模型;通过精密三轴转台试验结果表明,组合系统可以进行实时滤波计算,提高了组合系统导航参数精度,具有很好的工程实用性。

A set of integrated airborne navigation system was designed based on low-cost MEMS gyro strap-down inertial measurement unit with supplementary of GPS and ADS for practical engineering application. Taking full consideration of the advantages and disadvantages of various sensors, we adopted error compensation technology in the system to guarantee its accuracy and reliability. The composition and function of the system were introduced. Based on which, a 29 dimensional dynamic state equation of integrated system was established. The error models of GPS and ADS were presented, which were used in Kalman filter. The result of precise three-axis turntable test showed that the integrated navigation can execute filter calculationcx in real time, improve the navigation parameter precision, thus it is suitable for practical application.