摘要
RAPINS/计程仪/重力匹配组合导航系统是一种简易的无源导航系统,为了改善系统的容错性能,设计了基于该组合系统的联邦滤波器,建立了系统的工作模式,给出了联邦滤波算法.在该联邦滤波器中充分利用计程仪输出的速度信息,采用不等间隔滤波来进行信息融合.采用Matlab/Simulink对该组合导航系统在分辨率为0.005°×0.005°的数字重力异常图中进行了仿真研究.理论分析和仿真结果表明,基于联邦滤波的RAPINS/计程仪/重力匹配组合系统能够改善系统的容错性,且具有与集中式滤波相似的导航精度.
Rate azimuth inertial platform/log/gravity matching is a simple passive navigation system,to improve its fault-tolerant performance,and a federated Kalman filter is designed for this integrated system.The fundamental structure is constituted,and the algorithm is presented.The federated kalman filter makes full use of the log providing speed information,and adapts non-interval filter to fuse information.The simulation of the integrated navigation system is carried out with Matlab/Simulink and gravity anomaly maps whose resolution is 0.005°×0.005°.The theoretical analysis and the experimental results show that using this federated kalman filter,the fault tolerance capability can be enhanced,and the positioning accuracy is the same as that using the centralized kalman filter.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2009年第S2期49-54,共6页
Journal of Southeast University：Natural Science Edition
基金
南京工程学院校级基金资助项目(QKJA2009005)
江苏省青蓝工程资助项目
江苏省高校自然科学基础研究资助项目(08KJB460003)
远程测控技术江苏省重点实验室开放基金资助项目(YCCK20073)
关键词
联邦滤波
速率方位惯性平台
重力图
无源导航
federated Kalman filter
rate azimuth inertial platform
gravity map
passive navigation
