中文摘要：

针对卫星导航系统和惯性导航系统（INS）的不同特性,提出了一种GPS/GLONASS/INS数据融合算法。采用差分自适应检测算法、改进码平均相位算法以及位置联合解算方法实现了GPS/GLONASS数据融合,借助于改进的粒子滤波器、INS误差模型建立系统状态方程和观测方程,完成GPS/GLONASS系统速度值和INS系统速度值数据融合,提高组合导航系统精度和可靠性。使用真实数据对数据融合算法性能进行仿真分析,结果表明所设计算法是有效的,能够处理非线性非高斯条件下的滤波估计,提高滤波精度和系统可靠性。

英文摘要：

According to the different characteristic of satellite navigation system and inertial navigation system, a GPS/GLONASS/INS data fusion algorithm is proposed. The adapted detection algorithm based on different correlation, the modified code average phase algorithm and the combined location calculation algorithm are used for GPS/GLONASS data fusion, state equation and observation equation are founded by means of modified particle filtering, error model of inertial navigation, the velocity of GPS/GLONASS and the velocity of INS system are fused, improves precision and reliability of integrated navigation sys- tem. Performance of data fusion algorithm is simulated using actual data, the result shows that GPS/GLO- NASS/INS data fusion algorithm is effective, can deal with the state estimation of highly nonlinear on non-Gaussian condition, improves filtering precision and reliability of system.