城市环境BDS/MEMS-IMU组合导航的模型误差抑制方法

A method of model error suppression for BDS/MEMS-IMU integrated navigation system in urban environment

针对BDS/MEMS-IMU组合导航系统模型及噪声参数不确定性易引起模型误差的问题,设计噪声参数优化方法改进EKF,抑制系统模型误差及观测粗差对组合导航模型稳定性的影响:分析预测残差调谐系统噪声协方差矩阵;根据BDS观测质量,精化观测噪声协方差矩阵。实验结果表明,结合噪声参数优化方法可提升BDS/MEMS-IMU组合导航模型的稳定性及精度。

Aiming at the problem that it is vulnerale to model errors for BDS/MEMS-IMU integrated navigation system due to the parameter uncertainty of the system and noise,the paper proposed an improved EKF to suppress the influence of system model error and observation coarse error on the stability of the integrated navigation model:the innovation-residual was adopted to control the covariance matrix of system noise,and the measurement noise covariance matrix was refined according to the quality of BDS observation.Experimental result showed that the proposed optimization method could improve the stability and accuracy of the BDS/MEMS-IMU integrated navigation model.