摘要
研究了一种基于捷联惯性导航系统(SINS)的高精度组合导航方法;选取SINS的系统误差作为组合导航系统状态,利用天文导航系统(CNS)输出的姿态矩阵和SINS输出信息计算得到的等效姿态矩阵来构造量测,设计SINS/CNS组合导航算法;利用SINS与北斗卫星导航系统(RDSS)各自的位置输出构造量测,设计SINS/RDSS组合导航算法,从而,利用联邦卡尔曼滤波技术设计SINS/CNS/RDSS组合导航算法;仿真结果表明,惯性基SINS/CNS/RDSS组合导航方法具有较高的导航定位精度,工程应用前景良好。
A method of precise integrated navigation based on strapdown inertial navigation system （SINS） is researched. The system errors of SINS were chosen as states of the integrated navigation system. The attitude matrix output from celestial navigation system （CNS） and the equivalent attitude matrix calculated by outputs of SINS were taken to construct the observation, and the algorithm of SINS/CNS integrated navigation is designed. The position outputs from SINS and radio determination satellite service （RDSS） are taken to construct the observation, and the algorithm of SINS/RDSS integrated navigation is designed. Then the algorithm of SINS/CNS/RDSS integrated navigation is designed by the federated Kalman filtering technology. Simulation results show that, SINS/CNS/RDSS integrated navigation based on inertial navigation system had high navigation accuracy and good application prospect of engineering.
出处
《计算机测量与控制》
CSCD
北大核心
2009年第5期940-942,945,共4页
Computer Measurement &Control
基金
国家863计划资助项目(2006AA704318)
关键词
捷联惯导系统
天文导航系统
北斗卫星导航系统
组合导航
联邦滤波
strapdown inertial navigation system
celestial navigation system
radio determination satellite service
integrated navigation
federated filter
