摘要
研究基于地磁场的自主导航,建立以卫星轨道动力学方程为基础的系统状态方程,并详细推导以地磁场大小和地磁场矢量为观测量时的观测方程,通过引入EKF解决系统的非线性问题。最后,用matlab对地磁导航系统进行仿真,仿真结果表明EKF有很好的收敛性和稳定性,以地磁场矢量为观测量的导航精度要远高于以地磁场大小为观测量的导航精度,初值误差对导航精度影响很大。
Autonomous navigation using geomagnetic field is studied in the paper.The system state equations based on the dynamic equation of satellite,orbit were built,and the observation equations with geomagnetic field vector as the observable were derived in detail,the UKF method for nonlinear system was introduced to solve the nonlinear problem of the system.At the end simulations were made on the geomagnetic autonomous navigation system by using Matlab,The results show that the EKF has good performance in stability and convergence.The observation with Geomagnetic vector has higher navigation precision relatives to the observation with Geomagnetic size,the initial values error have a large influence to navigation precision.
出处
《北京测绘》
2011年第1期10-13,87,共5页
Beijing Surveying and Mapping
