基于北斗双星定位辅助的SAR/INS组合导航系统研究

Research of SAR/INS Integrated Navigation System Aided by BeiDou Double Star Position

由于SAR/INS/北斗组合导航系统中图像匹配定位需要耗用不等的匹配计算时间,而现有的北斗定位系统输出也具有一定的延时,因此,SAR/INS/北斗组合导航系统中的量测信息输出具有不同步和滞后的特点。针对上述问题,采用常规的联邦滤波算法将难以获得高精度滤波结果。为此,本文在分析SAR/INS/北斗组合导航系统工作过程的基础上,结合卡尔曼滤波的具体原理,设计了针对不同步量测信息的基于联邦滤波理论的组合滤波方案,并进一步提出了解决量测信息滞后问题的算法,从而可以有效处理SAR/INS/北斗组合导航系统中的信息融合问题。协方差分析结果表明提出的组合滤波方案可行,该方案对SAR/INS/北斗组合导航系统的实际应用具有重要的理论参考价值。

Because of the images matching position in SAR/INS/BeiDou integrated navigation system needing the unequal matching calculation time, and the output of BeiDou position system having time delay, which resulted in different steps and.delay characters of measurement output. So, The integrated filtering with the common federated kalman filtering algorithms couldn＇t get high degree of accuracy for the problem. The paper analyzed the work process in SAR/INS/BeiDou integrated navigation system, and utilized kalman filtering theory to design the integrated filtering scheme based on federated filtering theory for solving the problem of different steps measurement information. And then, the paper gave the algorithm of solving the measurement delay, thus the information fusion problem of the SAR/INS/BeiDou integrated navigation system can be good do. With the analysis of the covariance, the results have verified the feasibility of this scheme presented in the paper, and shown important reference value from theory to the application of SAR/INS/BeiDou integrated navigation system.