摘要
针对传统INS/CNS/GNSS组合导航3个异质传感器进行信息融合主滤波器易发散以及高超声速飞行器的特性,设计了由惯导与卫星导航深组合构成子滤波器1、惯导与间接敏感地平天文导航构成子滤波器2的SINS/CNS/GNSS组合导航新方法;详细推导了基于联邦滤波的位置、速度、姿态组合算法的观测矩阵的具体形式,最后对系统进行了仿真。仿真结果表明,该方法实现了精度和可靠性的有效一致,位置、速度和姿态精度较高,而且滤波器比较稳定。
The main filters tend to diverge when three heterogeneous sensors of the traditional INS/ CNS/GNSS integrated navigation system makes information fusion, so a new INS/CNS/GNSS integrated navigation system is designed, in which fiher 1 is composed of inertia navigation and satellite navigation and filter 2 is composed of inertia navigation and chronometer navigation. The position and attitude inte- grated method is proposed, and the measuring matrix is deduced. The simulations prove that the effective consistence of precision and reliability are realized by adopting this method and that the precision of posi- velocity and attitude is better and the filter comparatively stable.
出处
《现代防御技术》
北大核心
2012年第6期51-58,共8页
Modern Defence Technology
关键词
高超声速飞行器
组合导航
系统方程
联邦卡尔曼滤波
hypersonic vehicle
combined navigation （ integrated navigation system）
system equa-tion
federated Kalman filter
