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中文摘要：
在GPS/INS车辆组合导航中,GPS信号易受外界干扰而失锁。针对INS单独导航误差迅速累积的问题,在利用速度先验信息辅助INS导航的基础上,加入Odometer观测信息,提高了系统的可观测性和导航精度;另外提出了改进的位置修正法,即不直接利用状态估值修正位置,而是用修正后的速度推算位置。实测算例结果表明,与INS单独导航相比较,采用速度先验信息,提高了载体速度精度,采用改进的位置修正方法,位置精度有大幅度提高;在此基础上加入Odometer观测信息,位置和速度精度得到进一步改善。
英文摘要：
When GPS outages occur in a land vehicle navigation system,INS navigation error will be cumulated quickly. In this paper,the Odometer observations are added to the measurement equation to improve the system observability and navigation accuracy based on prior velocity. And a new method is implemented for position modification. By calculation,it is shown that compared with INS navigation,the velocity accuracy is improved with prior velocity. And with applying the new position modification method,the position accuracy is improvedgreatly. After the Odometer observations are added to the measurement equation,both position accuracy and velocity accuracy are improved further.
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