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基于UKF的MIMU/GPS/DVS组合导航方法研究 被引量:2

Research on MIMU/GPS/DVS Integrated Navigation Method Based on UKF
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摘要 提出一种基于UKF的MIMU/GPS/DVS组合导航方法,将其用于无人机等飞行器导航定位;以MIMU和DVS的误差作为组合导航系统状态,根据系统误差模型建立状态方程;利用MIMU与GPS的位置输出、MIMU与DVS的速度输出分别构造量测,建立对应的量测方程;针对状态方程和量测方程的非线性问题,采用UKF设计MIMU/GPS/DVS组合导航的滤波算法;仿真结果表明,MIMU/GPS/DVS组合导航的位置精度达到6.3m,速度精度达0.1m/s,水平姿态精度达到7.2′,航向精度达到18.5′,而且当GPS失效时仍然保持较高的导航精度。 MIMU/GPS/DVS integrated navigation method based on UKF is provided in this paper, which will be used for unmanned aer- ial vehicle and other aircrafts. Errors of MIMU and DVS are taken as the states of the integrated navigation system, and the state equation is build by system error models. Position outputs of MIMU and GPS are taken to construct the measurement, and velocity outputs of MIMU and DVS are taken to construct the other measurement. Then the corresponding measurement equations are built by the above measure- ments. To solve the nonlinear problem of state equation and measurement equation, UKF is adopted to design the filter algorithm of MIMU/ GPS/DVS integrated navigation. Simulation results show that, position accuracy of MIMU/GPS/DVS integrated navigation reaches 6.3m, velocity accuracy reaches 0. lm/s, horizontal attitude accuracy reaches 7.2t , and heading accuracy reaches 18.5%. Furthermore, this integrat ed navigation system still keeps high accuracy when GPS is out of order.
出处 《计算机测量与控制》 北大核心 2013年第11期3072-3074,共3页 Computer Measurement &Control
关键词 Unscented卡尔曼滤波(UKF) 组合导航 微惯性测量装置(MIMU) 多卜勒测速系统(DVS) 全球定位系统(GPS) 非线性问题 unscented kalman filter (UKF) integrated navigation micro inertial measurement unit (MIMU) doppler velocity sys-tem (DVS) global positioning system (GPS) nonlinear question
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