粒子滤波GPS/SINS组合导航系统动基座传递对准

Transfer Alignment on Moving base for GPS/SINS Integrated Navigation System based on Robust Particle Filtering

在SINS(捷联式惯性导航系统)与GPS(全球定位系统)组合传递对准时,航向角的可观测性较弱,经过卡尔曼滤波后,航向角误差虽有所改善,但仍呈发散趋势,针对GPS/SINS组合系统特点,提出了一种动基座传递对准方案,依靠GPS测量信息进行速度匹配,完成动基座传递对准。该方案采用粒子滤波方法解决对准过程中的非线性问题。仿真结果表明该方案的对准精度(1σ)可以达到东向失准角误差为5角分,北向失准角误差为2角分,方位失准角误差为6角分。

In the transfer alignment of integrated navigation system of GPS/ INS, the heading＇s observability is very weak,although the heading error is improved after Kalman filter,A method of moving based transfer alignment is presented for the integrated system of GPS with a strapdown inertial navigation system （SINS）. it uses the GPS measurements for the velocity matching to achieve the moving based transfer alignment. To solve nonlinear problem scaused by large attitude errors, the particle filtering （PF）is used. Simulation result shows that the alignment accuracy was 5＇for east direction maladjustment angle error, 2＇ north direction maladjustment angle error, and 6＇for azimuth maladjustment angle Error.