Comparison of Two Algorithms on Improving GPS/INS Positioning Accuracy During GPS Outage

作     者：Wanliang Hao, Fuping Sun, Po Chen Institute of Surveying and Mapping, University of Information Engineering, Zhengzhou 450052, China 

会议名称：《第三届中国卫星导航学术年会》

会议日期：2012年

学科分类：08[工学] 080401[工学-精密仪器及机械] 081105[工学-导航、制导与控制] 0804[工学-仪器科学与技术] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

关 键 词：GPS/INS Outage Smoothing RTS PEM 

摘      要：Aiming at the problem that the navigation errors increased rapidly when the GPS signal is unavailable in the GPS/INS integrated navigation system. Firstly, the characteristics of Fixed-Interval Smoothing algorithm in post-processing is researched, and RTS（Rauch-Tung-Striebel） smoothing is adopted to process the data during GPS outage. Secondly, a PEM（Parametric Error Model） that can be used in near real-time or post-processing is developed, and the scope of applications of the model is discussed. At last, both methods are compared using the simulation data, the results show that either of them can improve the navigation accuracy during GPS outage, and the advantages and disadvantages of the two algorithms are analyzed.