BD／SINS紧组合导航及时钟误差处理算法

摘要

The navigation accuracy of the pure SINS system can not satisfy the high performance requirement of air-to-air missile when the cruise range of the missile is too long .The GNSS/SINS integrated navigation is an effective method to solve this problem .Because of the successful application of the Beidou satellites navigation system,the research on BD/SINS integrated navigation has become a hot engineering field .In this paper,the integrated navigation algorithm of the BD/SINS is studied .The gain-restriction Kalman filter is adopted in the fusion of the information from the SINS and the BD receiver .In order to mitigate the inverse effect of the clock error of the receiver,a special method is used to eliminate the clock error .Simulation result proved that the integrated navigation method has a high navigation accuracy .%远距空空导弹飞行时间长，纯惯性导航难以满足高精度要求，而卫星定位／捷联惯性组合导航是解决此难题的一种有效方式，因此，采用基于伪距／伪距率的北斗／捷联惯性组合导航算法，该导航算法使用限定增益Kalman滤波器，对接收机钟差做了特殊处理，使得滤波结果不受钟差影响。仿真表明，该北斗／捷联惯性组合导航算法有较高的导航精度。