摘要
通过无迹滤波(UKF)技术将重力梯度数据应用于导航系统中,研究重力梯度辅助导航系统的可行性与优异性。首先分析了在重力梯度图数据获取的前提下如何进行重力梯度仪信号的模拟,给出了一个先插值再加入噪声最后进行滤波的操作方法。随后根据滤波算法的需要建立了重力梯度辅助惯性导航系统的数据融合模型,并对数据融合算法进行了简单分析。最后对重力梯度辅助导航系统进行了仿真分析,主要通过对比研究没有外部辅助的惯性导航系统和有重力梯度数据融合的导航系统性能,论证了重力梯度数据在导航系统中应用的可行性与优异性。
The gravity gradient data is used in the navigation system through the Unscented Kalman Filter (UKF) to study the feasibility and superiority of the gravity gradient aided navigation system.The paper first analyzes how to simulate the gradiometer signal with the given gravity gradient map dataand presents a method that uses an interpolation method first and then adds noise to this data with a final lowpass filterer operation.According to the necessity of UKFthe system dynamics of the gravity gradient aided navigation system is providedand how to use the UKF in this model is described.At the end of the paperthe simulation analysis is given to the gravity gradient aided navigation systemmainly through the comparative study of no external aided and the gravity gradient aided navigation systemto demonstrate the availability and feasibility of applying the gravity gradient data to the navigation system.
出处
《电光与控制》
北大核心
2013年第11期11-15,41,共6页
Electronics Optics & Control
关键词
无源导航
重力梯度
无迹滤波
巴特沃兹滤波器
passive navigation
gravity gradient
Unscented Kalman Filter
Butterworth filter