推算船位／罗兰C（GPS）组合导航系统的研究及其海上试验

该文研究了推算船位／罗兰Ｃ（ＧＰＳ）组合导航系统的组合模式和推广的非线性卡尔曼滤波算法在该组合模式中的应用，详细推导了舰船运动的七状态数学模型及其机械编排。该文还给出了该组合系统在南海进行试验时的舰船轨迹及定位误差曲线，并进行了比较分析。结果表明：组合系统克服了推位系统的积累误差，抑制了罗兰Ｃ（ＧＰＳ）的随机定位误差，有效地改善了导航定位精度，滤波方案正确，算法稳定。该组合系统已成功地装备于多种型号的舰船上。

Study and Sea Trial of Dead-reckoning/Loran C(GPS) Integrated Navigation System

This paper studies the combined method and the application of extended non-linear Kalman filter algorithm on dead-reckoning/Loran C (GPS) integrated navigation system. It deduces seven-rank mathematic model and mechanization of ship movement in detail. The ship trajectory and positioning error curves of sea trial in South Sea are also given and compared. The trial result demonstrates that the dead-reckoning/Loran C (GPS) system has eliminated the accumulating errors of DR and smoothed the stochastic errors of Loran C and GPS. The combined system is correct and effective. It had been equipped in many models of ships.