融合地磁信息的三子样姿态确定算法设计

Algorithm Design of Tri-sample Attitude Determination with Fusion of Geomagnetic Information

针对基于地磁信息的组合导航研究中多子样算法的非线性过程会严重降低滤波器精度的问题,提出了一种三子样姿态确定算法.该算法以系统误差方程作为状态方程,采用线性Kalman滤波器处理地磁信息,用姿态误差的估计值来校正系统输出,最终得到姿态值.通过对SINS/地磁组合导航系统的仿真,与单独使用三子样算法进行了对比.结果表明,本算法可以较高精度地求解姿态,并可有效抑制误差发散.

In current research into integrated navigation based on geomagnetic information, the nonlinear process caused by the multi-sample algorithm causes filter precision to decline sharply. To solve this problem, we pro- pose an algorithm of trl-sample attitude determination. The algorithm uses the system error equation as its state equation and employs a linear Kalman filter to deal with geomagnetic information. The attitude is obtained by correcting the output with the estimated attitude eFcor. Simulation is condut,ted on the SINS/gee, magnetic inte- grated navigation system, and the results are compared with those of the tri-sample algorithm. The sinmlation results show that our algorithm can track the attitude variation and restrain the error divergence effectively.