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中文摘要：
低成本INS系统的元件误差严重影响INS导航精度。针对车载系统,提出一种低成本车载GPS/INS组合导航姿态角更新算法。首先在GPS/INS组合导航Kalman滤波方程基础上,给出两种姿态角更新的观测方程。然后给出利用GPS测速确定航向角的原理,并且对低成本车载INS系统的俯仰角和翻滚角进行了分析,指出由INS随机误差造成的俯仰角和翻滚角误差比其本身量值要大,建议令俯仰角和翻滚角数值保持不变。利用实测算例确定了不同速度下的航向角精度,并且验证了该算法的有效性,以及相对于基于位置、速度组合的Kalman滤波,导航精度有明显提高。
英文摘要：
The instrument errors in low cost INS can significantly degrade the navigation precision.In this paper,an attitude update algorithm for GPS/INS integrated navigation system on land vehicle is put forward.First,two kinds of attitude observation equations are given based on GPS/INS loose navigation.Then the principle of yaw angle determined by GPS velocity is introduced and the pitch and roll angles of low-cost INS in land vehicle are analyzed.It is suggested that the pitch and roll angles should be kept constant when the errors caused by instrument errors are bigger than themselves.By the actual data calculation,the precision of yaw angle determined by GPS velocity is obtained,and it is shown that,compared with the Kalman filtering based on position and velocity,the new algorithm significantly improves the navigation accuracy.
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