关键词: 全球卫星定位系统(GPS), 惯性导航系统(INS), 卡尔曼滤波

Abstract:

Based on the existing algorithm of selected satellites used in GPS positioning, an improved algorithm is presented. It's more adapted to the integrated navigation system of GPS/INS. The novelty lies in that the effect of the satellite elevation and azimuth on the observability of Kalman filter is taken into account in this algorithm. It can avoid weakening the observability of Filter induced by the decrease of relevancy between measurement and state. Thus it can ensure the stability of Kalman filter.

Key words: global po sitioning sy st em( GPS), iner tial navigation system( INS), Kalman filter