中文摘要：

基于GPS和惯性技术的组合导航系统是近年来导航系统的研究热点和主要发展方向。目前基于卡尔曼滤波方法的算法在稳定性、计算量、算法鲁棒性以及系统可观测性等方面仍然存在问题。基于神经网络技术研究了一种新的GPS／INS组合定姿自适应卡尔曼滤波方法，理论分析表明，该方法不但对姿态信息具有较好的估计性能，而且对系统模型的精确性、噪声特性具备良好的鲁棒性。最后，利用模拟数据对所研究算法进行了分析计算，与传统的卡尔曼滤波方法进行了比较、分析，结果表明所设计组合算法在精度、稳定性以及鲁棒性等方面较传统卡尔曼方法具有良好的特性。

英文摘要：

Global Positioning System （GPS） /Inertial Navigation System （INS） integrated system is continuously gaining research interests in many positioning and navigation fields. Kalman filtering-based integrated algorithm has some drawbacks on stability, computation load, robustness, and system observability performances. Based on neural network technology, a new GPS/INS integration filtering algorithm is studied for an integration scheme of the attitude determination GPS/INS integrated navigation system. Through some theoretic analysis, this algorithm not only has good estimation performance, but also has better robustness to the system model and noise than the traditional Kalman algorithm. To assess the performance of the proposed integrated model more deeply, some simulation is done to compare with the traditional Kalman filter model. The results indicate that the proposed model provides a significant improvement in some performance, such as accuracy, stability, robustness, and so on.