摘要
微惯导系统(MINS)与卫星导航系统(GNSS)的结合不仅可以充分利用微惯导系统良好的短期性能和GNSS的长期稳定性,弥补MINS系统误差随时间积累和GNSS采样频率低、动态性能差的缺陷,而且使得组合导航系统的精度和动态能力同步提高,保证了系统在卫星信号受遮挡或失效的环境下仍能够以较高的精度自主运行一段时间,正常工作。采用星网宇达的产品采集真实数据进行了离线仿真,比较了多种滤波算法,实验证明,采用UKF取得的效果最好,EKF次之,KF最差。
Micro inertial navigation system（ MINS） with the combination of the Global navigation satellite system（ GNSS）can make full use of the short-term performance of MINS and the long-term stability of the GNSS. It can make up for the defects of error accumulated over time of MINS,and for the low sampling frequency and poor dynamic performance of GNSS.Thus,it can improve the precision and dynamic capabilities of integrated navigation system,and it can also ensure the system to operate a period of time autonomously at high precision when the satellite signal is shielded or failure. We use Star Neto products to collect real data and compare a variety of filtering algorithms. Experimental results show that the effect achieved by UKF is best,EKF followed,KF worst.
作者
石拓
陈家斌
田晓春
宋春雷
杨黎明
尹静源
SHI Tuo CHEN Jia-bin TIAN Xiao-chun SONG Chun-lei YANG Li-ming YIN Jing-yuan(CETC 54, Shijiazhuang 050081, China School of Automation, Beijing Institute of Technology, Beijing 100081, China North China Optical Instrument Co. , Ltd. , Beijing 100053, China Beijing Electro-mechanical Engineering System Design Department, Beijing 100039, China)
出处
《导航定位与授时》
2016年第6期26-32,共7页
Navigation Positioning and Timing
