MIMS/GPS组合导航系统中卡尔曼滤波器设计与实验研究

Design and Experiment of Kalman Filter for MIMS/GPS Integrated Navigation System

对MIMS/GPS 组合导航系统进行了研究,设计了卡尔曼滤波器,采用状态和偏差去耦方法进行估算,完成了仿真和车载实验。该算法计算量小,估计精度高,特别适用于偏差项较多的场合,在本系统中有效地抑制了陀螺和加速度计动态偏差的影响。此外,在开环卡尔曼滤波器结构基础上引入了姿态阵修正,进一步减小捷联系统姿态角误差对导航定位精度的影响。仿真和车载实验结果表明,样机具有较高的定位精度和较好的重复性。

The MIMS/GPS integrated navigation system is studied, and the Kalman filter for this system is designed. Simulations and vehicle tests are undertaken. The state and bias is estimated by using decoupling. It is characterized by less computation and high estimation accuracy, especially suited for the case when the number of bias terms is large relative to the state variables of the system. The bias effects of gyros and accelerometers are restrained effectively in the system. Besides, the attitude update is used based on the open-loop Kalman filtering structure, further decreasing the effects of the attitude angle errors on the positioning accuracy. Simulations and vehicle tests show that the prototype is provided with better accuracy and repeatability.