摘要
为了在卫星较少条件下也能提供连续稳定、精度高的导航,建立了一种基于扩展卡尔曼滤波器(extended Kalman filter,EKF)的捷联惯导系统(strapdown inertial navigation system,SINS)/全球导航卫星系统(global navigation satellite system,GNSS)深组合导航系统,并对该系统所采用的导航结构、状态估计算法等进行研究设计。最后,在战术级条件下,分别对单独的SINS,SINS/GNSS松组合导航系统和SINS/GNSS深组合导航系统进行仿真验证,并对导航结果进行对比分析。从仿真结果可以看出,深组合导航系统位置误差约为0.3 m,速度误差约为0.01 m/s,姿态误差约为0.005°。对比分析可知深组合导航精度更高,且不受卫星个数条件影响,具有很高的实用价值。
A deep integrated navigation system of SINS/GNSS is established based on EKF to provide continuous and stable,high precision navigation on the condition of less satellites. At the same time,the navigation structure and state estimation algorithm of this system are studied. Finally,the navigation results of individual SINS,loose integrated navigation system of SINS/GNSS and deep integrated navigation system of SINS/GNSS are verified by simulation at tactical level. The simulation results show that the position error of deep integrated navigation system is about 0. 3 m,velocity error is about 0. 01 m/s,attitude angle error is about 0. 005°. It indicates that the precision of deep integrated navigation is higher,which is not affected by satellite condition,and has very high practical value.
作者
连文浩
杨小龙
朱磊
程帅
LIAN Wen-hao YANG Xiao-long ZHU Lei CHENG Shuai(PLA, No. 63981 Troop, Hubei Wuhan 430311 , China)
出处
《现代防御技术》
北大核心
2017年第5期53-62,共10页
Modern Defence Technology
关键词
SINS/GNSS深组合导航
扩展卡尔曼滤波
状态估计
导航精度
导航定位结果
战术级
deep integrated navigation system of SINS/GNSS
extended Kalman filter（EKF）
stateestimation
navigation accuracy
navigation positioning result
tactical level
