摘要
为提高导航系统的精度和可靠性,在全球定位系统(GPS)、捷联惯导系统(SINS)和景象匹配传感器(SM)的观测信息是以不同采样率给出时,基于Kalman滤波技术,建立系统模型,利用分布式有反馈数据融合结构,提出一种有效的景象匹配辅助GPS/SINS组合导航算法,即GPS/SINS/SM组合导航算法。理论分析和仿真结果均表明:在导航定位和对状态的估计精度和可靠性方面,GPS/SINS/SM组合导航的结果均优于GPS/SINS或GPS/SM组合导航的结果,它们又优于单个系统Kalman滤波的结果。
To improve the precision and the reliability of navigation system, when measurements from global positioning system （GPS）, strap-down inertial navigation system （SINS） and scene matching （SM） sensor are obtained with different sampling rates, by establishing system models, and by use of Kalman filter and distributed filtering with feedback, an effective scene matching aided GPS/SINS integrated navigation algorithm, i.e., GPS/SINS/SM integrated navigation algorithm, is presented. Theoretical analyses and simulation results show that the GPS/SINS/SM integrated estimate is better than the GPS/SINS or GPS/SM integrated estimate, which are both better than the Kalman filter results.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2008年第7期1182-1185,1189,共5页
Journal of Tsinghua University(Science and Technology)
基金
国家"八六三"高技术项目(2006AA705215)
中国博士后科学基金资助项目(20070410049)
关键词
线性滤波
多采样率
状态估计
组合导航
linear filtering
multirate
state estimation
integrated navigation
