一种基于INS/GPS/CNS的全信息导航滤波算法

A full information navigation filtering algorithm based on INS/GPS/CNS

为解决INS/GPS两组合导航系统因观测信息不完整造成的姿态误差发散、系统稳定性较弱的问题,本文利用CNS搭建了基于INS/GPS/CNS的全观测信息导航系统。通过建立以位置误差、速度误差及平台失准角误差为观测量的系统数学模型,提出一种基于INS/GPS/CNS的全信息导航滤波算法,提高了系统的导航精度,改善了系统的稳定性。试验结果表明,本文所提算法相较于传统两组合滤波算法,各导航参数的精度在不同程度上得到改善,长航时条件下姿态误差收敛、稳定性较高。

In order to solve the weak system stability problem of the INS/GPS navigation system caused by incomplete observation information,this paper uses CNS to build a full observation information navigation system based on INS/GPS/CNS.Through establishing the position error,velocity error and platform misalignment angle mathematical models,a full information navigation filtering algorithm based on INS/GPS/CNS is proposed,which improves the navigation accuracy of the system and improves the stability of the system.The experimental results show that the accuracy of each navigation parameter is improved to different degrees compared with the traditional two-combination filtering algorithm,and the attitude error is convergent,the stability is high under long-haul conditions.