高精度SINS／CCD／GPS组合导航系统研究与仿真

Research and Simulation on Precise SINS/CCD/GPS Integrated Navigation System

选取捷联惯导系统误差作为系统状态,利用捷联惯导系统(SINS)与电荷耦合器件(CCD)星敏感器各自的姿态矩阵输出构造量测,设计SINS/CCD组合导航算法;利用SINS与全球定位系统(GPS)各自的速度、位置输出构造量测,设计SINS/GPS组合导航算法。然后,利用联邦型卡尔曼滤波技术,将各子滤波器输出的系统状态局部最优估计值送入主滤波器,通过全局最优融合算法计算得到系统状态的全局最优估计值。仿真结果表明,基于SINS/CCD/GPS的组合导航系统具有很高的导航精度,达到了3.5m的定位精度和9″的航向精度,非常适用于飞行器的高精度导航定位。

The errors of strapdown inertial navigation system （SINS） were chosen as states of the integrated system. The attitude matrix outputs from SINS and charge coupled device（CCD） star sensor were used to construct the observation, and the algorithm of SINS/CCD integrated navigation was designed. The velocity outputs and position outputs from SINS and global positioning system（GPS） were used to construct the observation, and the algorithm of SINS/GPS integrated navigation was designed. Then by the federated Kalman filtering, local optimal estimations of system states from the local filters were passed to the master filter, and the master filter can give the global optimal estimates of states through the global optimal fusion algorithm. Simulation results show that SINS/CCD/GPS integrated navigation system had high navigation accuracy, with the positioning accuracy up to 3.5 meters, and the azimuth accuracy up to 9 angle seconds, which was very fit for the precise navigation for aerocrafts.