摘要
为了提高微小型飞行器导航系统姿态测量性能,提出偏振光/地磁/GPS/SINS组合导航方法。推导了三维空间中应用偏振光/地磁辅助测姿原理,并证明了系统具有完全能观性,指出了观测结构具有退化现象和退化条件。采用联邦卡尔曼滤波方法实现了组合导航算法,利用Matlab仿真方式对单独使用偏振光和同时使用偏振光/地磁辅助的组合导航系统的测姿修正效果和能观度改善效果进行了检验和比较。结果表明偏振光/地磁/GPS/SINS组合对测姿的修正能力优于单独使用偏振光辅助的情况。由此可以得出该方法能够改善导航系统能观性和精度的结论。
To improve the attitude determination performances of the MAV navigation systems, a polarized-light/geomagnetism/GPS/SINS integrated navigation method was proposed. The principles of polarized-light and geomagnetism based attitude determination were demonstrated. Full observability of the system is proved. The observation degeneracy and the degeneracy conditions are indicated. The navigation algorithm was implemented with Federated kalman filtering. The performances of the GPS/SINS navigation system with polarized-light-aiding alone and polarized-light/geomagnetism-aiding are respectively studied by Matlab simulating. The simulation results indicate that the capability of the attitude error correction of the Polarized-light/geomagnetism/GPS/ SINS navigation system is better than that of the pelarized-light/GPS/SINS system. It can be concluded that the degree of observability and precision of the stated system can be improved obviously with polarized-light and geomagnetism aiding.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2007年第4期897-902,共6页
Journal of Astronautics
基金
国家自然科学基金重点项目(60475027)
关键词
偏振光
地磁导航
姿态参考
组合导航
联邦卡尔曼滤波
Polarized light
Geomagnetic navigation
AHR
Integrated navigation
Federated kalman filtering
