高精度RNS/SINS组合定位算法研究

Algorithm Research on RNS/SINS Integrated Navigation System

研究飞行器导航定位精度优化问题,提出了RNS/SINS组合导航方法,并对无线定位系统的测距设备和捷联惯导系统的惯性测量单元进行误差建模。对惯性测量单元和无线测距设备输出的原始数据进行采集,通过均值、均方差和AR模型等方式对采集数据进行分析,得到惯性测量单元和无线测距设备的误差系数。最后基于各误差系数设计了轨迹发生器,设计了松组合卡尔曼滤波器,对组合定位系统进行数字仿真。结果表明组合定位系统抑制了惯导的误差积累和无线定位系统的信号跳变,提高了系统的定位精度。

This paper presented a wireless location technology and SINS integrated navigation positioning methodand analysed the system＇s input error. Inertial measurement unit and the wireless distance measuring equipment was collected and analysed by the mean, standard deviation and AR models etc. Finally, we designed a Kalman filter based on a loose coupling model, and carried out the simulation of the integrated positioning system. The simulation result shows that the integrated positioning system suppresses both the error accumulation of SINS and wireless positioning system＇s signal transitions, which improves the positioning accuracy of the system.