MATLAB惯性系统定位误差事后校正技术研究仿真
本课题重点研究了惯性系统定位误差事后校正技术，首先介绍了SINS、GPS/SINS组合导航以及卡尔曼滤波等的基本原理，在此基础上给出了总体方案设计、SINS解算算法以及GPS/SINS组合导航算法的设计。论文在选择MATLAB作为仿真平台之后，详细介绍了仿真软件各模块的设计方法，给出了具体的仿真参数并对得到的仿真结果进行了详细的分析。仿真结果表明，采用GPS/SINS组合导航算法是进行定位误差事后校正的有效方法。
关键词 地籍测量 捷联惯性导航系统 定位误差 组合导航 卡尔曼滤波
毕业设计说明书（论文）外文摘要
Title Research of the Afterwards Correction of Inertial
System Positioning Errors
Abstract
With the development of the economy and society of China, the demand of real-time cadastration data has become stricter and stricter in the work of property right management. At present, the changes of cadasration data have become increasingly changeable, complicated and frequent. The existing cadastration techniques have the disadvantages of long working cycle, heavy workload. They are affected badly by the observation environment. As a result, it cannot meet the requirement of the cadasration in China. The technology of SINS (Strap Inertial Navigation System) and GPS (Global Positioning System) has rapidly developed these years. They provided a new technical platform for the research of modern cadasration technique.
The subject focused on the afterwards correction technique of Inertial System positioning errors. The basic principles of the SINS, the GPS/SINS integrated navigation and the kalman filtering have been introduced firstly. On this basis, the overall program, the SINS solving algorithm and the GPS/SINS integrated navigation algorithm have been given. The paper detailed the designs of the different modules of the simulation software，and given the simulation parameters and a detailed analysis of the simulation results after choosing MATLAB as the simulation platform. Simulation results show that the GPS/SINS integrated navigation algorithm is an effective solution of positioning errors’ afterwards correction.
Keywords cadastration strap inertial navigation system
positioning errors integrated navigation
kalman filtering
目 录
1 绪论 1
1.1 研究背景 1
1.2 国内外研究现状 2
1.2.1 GPS/SINS组合定位技术研究现状 2
1.2.2 光纤陀螺仪研究现状 3
1.3 论文内容和章节安排 4
2 基本原理 5
2.1 SINS解算模型 5
2.2 SINS基本原理 5
2.3 SINS误差模型 7
2.4 传感器误差模型 9
2.4.1 陀螺仪误差模型 9