摘要
为改善INS/CNS/GPS组合导航系统输出姿态信息的稳定性,解决传统FKF算法非线性条件下姿态精度发散的问题,提出了一种基于UKF的FKF滤波算法;同时为解决各系统间时间信息不同步造成姿态精度下降的问题,提出了一种工程上可用的时间同步方案,同步精度优于0.5 ms。在实验室条件下,利用INS/GPS/CNS样机和高精度三轴转台搭建验证系统进行摇摆试验,试验结果表明,提出的方法可实现姿态误差值变化在5%以内条件下系统稳定工作一天以上。
In order to improve the stability of the output attitude information of INS/CNS/GPS integrated navigation system and solve the problem of divergence of attitude accuracy under the nonlinear condition of traditional FKF algorithm, a data fusion algorithm of federated Kalman filter based on unscented Kalman filter is proposed. Meanwhile, to improve the output frequency of attitude information, a high frequency output scheme is proposed, which can be used in engineering, and the synchronization accuracy is better than0.5 ms. Under laboratory conditions, the INS/GPS/CNS prototype and high-precision three-axis turntable are used to build the verification system for testing the effectiveness of the proposed method. The experimental results show that the proposed method can make the system work continuously for more than one day with attitude stability being less than 5%.
作者
尹洪亮
杜红松
郝强
YIN Hongliang;DU Hongsong;HAO Qiang(China Ship Research and Development Academy,Beijing 100192,China;Department of Precision Instrument,Tsinghua University,Beijing 100084,China;The Research Institute of Navy Academy,Beijing 100073,China;School of Electrical Engineering & Automation,Harbin Institute of Technology,Harbin 150001,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2019年第1期136-140,共5页
Journal of Chinese Inertial Technology
基金
海军预先研究项目(30201070401)
