摘要
针对组合导航系统中全球定位系统(GPS)信号易丢失和干扰、惯性导航系统(INS)无法长时间单独工作的问题,通过采用带故障检测和隔离的导航算法解决GPS数据异常的问题,有效提高系统的可靠性;同时当GPS卫星信号短时间丢失时,利用Allan方差分析方法确定惯性传感器误差并进行补偿,使纯INS能够在一定精度内独立工作相对长的一段时间。车载试验结果表明:该方法能够保证组合导航系统的可靠性,且在GPS信号短时间丢失情况下提高了纯惯导系统的导航性能。
In order to solve the problems existing in integrated navigation system, such as global positio- ning system （GPS） signal interruption, interference and short operating time of inertial navigation system （INS） , a fault detection and isolation module is integrated in the navigation system, with wllich the fault- y GPS measurements could be excluded so as to improve the system reliability and availability. Mean- while, the inertial sensor errors are analyzed with Allan variance method and compensated in the compu- tation procedure so that the navigation system can operate with an acceptable accuracy as long as possible when GPS signal interruption happens. The experimental results show that the proposed method can effec- tively enhance the performance of the integrated navigation system, especially when GPS signal is inter- rupted.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2013年第7期889-895,共7页
Acta Armamentarii
关键词
兵器科学与技术
组合导航
故障检测
故障隔离
ALLAN方差
ordnance science and technology
integrated navigation
fault detection
fault isolation
Allan variance
