GPS／惯性组合导航开发系统

··GPS/’()GPS/、、。,、、、,。,、GPS、;;。GPS/INSIntegratedNavigationDeveloPingSystemLiuJianyeYanXin(NanjingUniversityofAeronautiesandAstronauties)ABSTRACTGPS/INSintegratednavigationdevelopingsystemwouldbeusedforsrudyinganddesigningintegratednavigationsysremeffieientlyandeeonomieally.Itshortensthedistaneefromtheorytoengineeringrealization.Iteanbeonegoedwayofeheekingandtestingthepreeisionandperformaneeoftheintegrationnavigationsystematdifferenrappliedeonditionsforthepolieymakingbodyandtheengineeringappliedunit.Thekeyunitofthedevelopingsystemwouldbeeonvenientlytransferredtoengi-neeringappliedsoft.Thispaperrepresentsprineipleandstruetureofthesysteminelud-ingkalmanfilter,rraeksimulation,GPSsimulation,INSsimulationand50on.Thefune-tiondesignandmaneomputerboundarydesignarestudied.Theresultaboutthesys-temjsgivenlast.1(IN)S,,INS,。(GPS)90,l、、。,,GPS,j9953ll;,GPS(),。GPS/,,,,、、。,GPS,。,,,,。,。,。,1993。、。1U(k)~k,k1)X(k1/k1)=k,kl)K(kl)Z(kl),k(,kl)A,Xk(1k/1),K(k1),Zk(1)。GPS/2。,,6,V“V“,A“A“。。2NIS、、,GPS,,?I[。1。,,,,、`GPS。,INSGPS,_L。2,,’199531,,。,、、、。,3。C:,。GPS,,;4,,GIX〕P,、;,GPS、HIX〕P、VLX〕PG〔)P,。2,GPS,。,,。3(),,,C(),A“。,+C+,。+;、。f。GPS,GPSGPS,GPS。GPSGPS。,19953134。,,。,、。!!!!l!GG1IG/43.1,。,(5),,(、)。33.2,、,。,。,,;(6),6,,·。():1”,““:.1:.::`,ōùō”:._},!.5S/::”:...............................\\\\\......……`,le,:111………{00000lal.laJ.1~~~~~~J.)()()1}}}){00000It1.1.01............((((()()()_______{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{VVVVVVVVVVVVVV{!6’ill.`19953l3.3GPSGPS、GPSGPS。GPS,GPS,:①18;②18+3();③21;①24;⑤。,7。,,GPS。GPS,GPS。GS、(》=”~=COOP=POOP=HOOP=VOO=OOP=I:《》=《,=《》=::1.,,..。,.,`《,11,。,,。,..21☆—*—7GPS.34GPS(),GPSGPS。18;4,、、、。,GPS。.35GPS/()。GPS,。20,GPS,4。199531(),GPS、GPS、,,5;,,。4286PC_L,C,C、,,。、、,。4.1,IX〕S,。10,,,。4.2,5。,,GPS/。。4.3,PCvGA,,,、,,。4.4,1FH,、、。,。4.5,,,,、、,。4.6,、、。5GPS/,s[,,、GPS/,、、、,,。,..,19881。..,199312。,.、GPS/S[NS.,19924。,.GPS/.,199。1。,.GPSNS.,.P345~349,19928。,./GPS/.,1993l。,.GPS/SINS.,p.277284,198810。,.//.,HJB921049。19953l