摘要
传统的捷联惯性导航系统(SINS)/全球定位系统(GPS)组合导航系统常采用位置速度组合模式,其可观测性与载体的飞行航迹有关,从而影响了整个组合导航系统的精度和可靠性。为了解决这一问题,提出了基于联邦滤波的SINS/GPS全组合导航系统方案,推导了姿态角误差和平台失准角之间的变换关系,建立了SINS/GPS全组合导航系统数学模型,最后采用联邦滤波算法进行组合导航仿真计算。通过对仿真计算结果的分析,证明基于联邦滤波的SINS/GPS全组合导航算法能够有效地提高系统的导航精度和可靠性。
Traditional strapdown inertial navigation system（SINS）/Global Positioning System（GPS） integrated navigation system usually uses position and velocity as observations.And its observability is relative to flight trajectory of carrier,which often affects the precision and reliability of integrated navigation system.To solve the problem,a scheme of fully integrated SINS/GPS navigation system based on Federated Filters was investigated;transformation relation between attitude error and misalignment angles was derived;mathematic model of fully integrated SINS/GPS navigation system was established;some simulations using federated filters were done.According to the simulation results,the fully integrated SINS/GPS navigation algorithm based on federated filters improves navigation precision and reliability effectively.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第6期1562-1564,1569,共4页
Journal of System Simulation
关键词
SINS
全组合导航系统
平台失准角
联邦滤波
SINS
fully integrated navigation system
misalignment angle
federated filter
