中文摘要：

提出了一种双差载波相位GPS/INS紧密组合的新形式,分析了紧密组合和松散组合的计算形式和特点,进而统一了紧密组合和松散组合的估计状态,并将此紧密组合和松散组合相结合,实现了一个复合滤波器。此滤波器可以根据GPS的实际观测情况动态选择合适的滤波方式,可兼顾滤波器的精度和可靠性。通过处理实测数据,验证了此滤波器在精度和可靠性上都优于任一种单一的组合模式。

英文摘要：

In the positioning and altitude determination system, the and loose GPS/INS coupling both has good reliabilities but low precis have advantages and disadv ion while the tight coupling antages. GPS/INS coup The loose coup lng ing has high precision but poor reliabilities. Hence, it is desirable to design a Kalman filter, which offers not only high precision but also good reliabilities. Based on the consistent INS error state equation, a multiplex filter is proposed with two different observation equations of loose coupling and tight coupling. In the multiplex filter, the different solutions can dynamically be adopted according to actual GPS observations, in order to ensure both the accuracies and reliabilities. To verify the effects of the multiplex filter, actual data is processed respectively with three coupling modes. From the analysis and comparison of the processing results, we can found that there are obvious advantages of dynamic coupling using the multiplex Kalman filter both on the accuracies and the reliabilities, comparing with both loose coupling and tight coupling.