摘要
设计了基于INS+GPS组合导航系统的组合滤波器(卡尔曼滤波器和H∞滤波器)及实现方法,建立了9维系统状态方程,给出了陀螺误差模型、加计误差模型和GPS误差模型,实现了以GPS与INS输出的东、北向速度误差作为组合滤波器观测量的组合方案。该组合滤波器通过检测各子滤波器的估计误差量的均值,使其自身具有很强的自诊断能力。通过计算机的仿真,对系统的精度进行了分析,证明该方案是可行的,能够加快计算速度,实现实时滤波计算,取得很好估计效果。
The combined filter （Katman filter and H∞ filter） was designed based on the INS/GPS integrated navigation system using the observation of horizontal velocity derived by the double-differenced GPS carrier velocity measurements. The error model of the gyroscopes, the accelerometers and the GPS were presented. This combined filter could have strong fault diagnosis ability by testing the mean value of error estimation of each sub-filter, The test results show that this designed system can meet the pre-set requirements, increase the calculation speed and improve the precision of navigation system.
出处
《中国惯性技术学报》
EI
CSCD
2008年第2期188-191,共4页
Journal of Chinese Inertial Technology
基金
国防科技预研项目(51309060404)
