摘要
随着北斗卫星组网的推进,SINS/GPS/BDS组合导航系统应用前景广阔。针对SINS/GPS/BDS紧耦合系统,首先研究了紧耦合系统的卡尔曼滤波算法,在此基础上与松耦合系统、纯惯导进行比较,对SINS/GPS/BDS紧耦合系统性能进行仿真研究,最后利用残差检验法对紧耦合系统的故障检测性能进行了仿真;结果表明,紧耦合系统具有优越的性能,采用紧耦合系统能扩大组合导航系统的应用范围,便于故障检测。
With the process of Bei Dou network＇ s formation, the application prospect of SINS/GPS/BDS integrated navigation system is splendid. In view of SINS/GPS/BDS tightly couple system, firstly the coupled system＇s kalman filter algorithm was researched, base on this foundation, through comparing with loosely coupled system and SINS system alone, the performance of SINS/GPS/BDS tightly coupled system was simulated, finally the coupled system＇ s failure detection performance was simulated by use of Chi2-square residuary detection method. The results show that SINS/GPS/BDS tightly coupled system has a surperior performance, and the tightly coupled system can wid- en the application of integrated system and make for failure detection, and make for failure detection.
出处
《计算机测量与控制》
CSCD
北大核心
2012年第9期2567-2570,2573,共5页
Computer Measurement &Control
基金
航空科学基金(20100818017)
空军工程大学航空航天工程学院科研创新基金(XS1101021)
陕西省自然基金青年项目(2012JQ1019)
关键词
组合导航
紧耦合
卡尔曼滤波
故障检测
残差检验法
integrated navigation
tightly coupled
kalman filter
failure detection
Chi2 - square residuary detection method
