摘要
对惯性/天文组合导航系统在运动载体上的应用进行了研究。在分析天文导航系统测姿原理的基础上,建立了组合导航系统的数学模型,介绍了一种姿态角误差转换矩阵的求取方式,针对运动载体姿态相对变化较快而存在的输出延迟问题,研究一种在采用卡尔曼滤波进行信息融合过程中,进行延迟误差补偿的数据处理方法。基于建立的数学模型,运用卡尔曼滤波方法对延迟补偿前后的系统进行了仿真比较,仿真结果表明文中所设计算法可以较好地满足运动载体的定姿定位要求。
The paper studied the application of SINS/CNS integrated navigation. Based on analysing the celestial navigation system attitude determination principle, it built mathematical model, introduced a method for gaining conversion matrix of the attitude error and studied a data processing method for error delay compensation during informa- tion fusion with Kalman filter against output delay, which existed obviously when motion carrier had a relatively high attitude change. According to mathematical model above, the paper compared these two situations. The results of simulation proved that the algorithm can satisfy attitude and location demand of motion carrier.
出处
《计算机仿真》
CSCD
北大核心
2009年第7期86-89,94,共5页
Computer Simulation
关键词
组合导航系统
天文导航
卡尔曼滤波
延迟补偿
Integrated navigation system
Celestial navigation system
Kalman filter
Delay compensation
