自主式车载组合导航系统研究与仿真

Researching and Simulation of Autonomous Integrated Navigation System for Vehicles

考虑到车载组合导航系统运行时间长、地形环境复杂的特点,将零速修正技术与惯导/里程计/气压高度表组合导航系统相结合使用,采用序贯处理和平方根滤波算法,建立了实用的卡尔曼滤波模型。相比基本卡尔曼滤波算法,该方法实现简单,计算量小,抑制了滤波的发散,提高了滤波的精度。最后对组合导航系统进行仿真验证,取得了较为满意的结果。与INS/GPS组合导航系统相比,该系统具有良好的自主性及适应性。

This paper proposes integrated navigation system for vehicle which have characteristics of long-time moving and complex chorography environment, zero velocity update and integrated navigation system of INS/Odometer/Altimeter is coalesced, and adopted sequential processing and algorithm of Square root filter, the algorithm has smaller computation amount and better performance than basic Kalman filter, braked divergence of filter, enhanced precision of filter. Finally, simulation shows that the integrated navigation system is valid. Comparing with INS/GPS, this system possess autonomy and adaptability well.