摘要： 介绍了我国自主研制的北斗卫星导航定位系统的基本结构和定位原理。针对该导航定位系统中存在的问题，以低成本无陀螺DR作为其补充定位方式，设计了北斗/DR 组合导航定位系统，并根据无陀螺DR 的特点找出了适合该系统的卡尔曼滤波算法。该算法推导出了线性形式的DR 观测方程，避免了目前常用导航算法由于观测方程线性化引起的模型误差。现场跑车试验表明，给出的北斗/DR 组合系统在采用自适应卡尔曼滤波算法后可以获得良好的定位精度。结合北斗系统具有的特点，分析了将北斗普通型用户机和指挥型用户机应用于大范围车辆调度管理系统中的优势。

关键词: 双星定位；Non-gyroscope DR；组合导航；卡尔曼滤波

Abstract: This paper introduces homemade Beidou satellite navigation and positioning system. In view of the problems existing in the system, a RDSS/DR integrated navigation device is designed. The operating principle and the algorithm of the device are also presented. By operating measured data synthetically, linear observation equation is obtained for the navigation algorithm. This approach avoids model error due to linearizing nonlinear observation equation in the conventional algorithm, so that the stability of navigation algorithm is improved and computation expenses are reduced. Field running experiments show that satisfactory accuracy can be obtained by the proposed navigation model and algorithm for the vehicular RDSS/DR integrated navigation system without gyroscope.

Key words: RDSS; Non-gyroscope dead reckoning; Integrated navigation system; Kalman filter