卡尔曼滤波在组合导航中的仿真与分析

Simulation and analysis of Kalman filter in integrated navigation system

本文针对船舶在航行过程中的精确控制与自主导航问题,结合单一导航系统的优缺点,选择北斗/惯性组合导航方式,以误差作为变量的卡尔曼滤波作为核心算法,弥补惯性导航长时间工作积分误差变大,以及北斗遇到复杂地形信号易失锁且易受电子欺骗的不足。利用卡尔曼滤波算法,将惯性传感器和磁力计的输出数据进行融合,将北斗提供的导航数据补偿惯性导航的参数。对北斗/惯性组合导航建立数学模型并进行仿真分析,通过仿真实验说明卡尔曼滤波在组合导航系统中的可靠性。

In order to solve the problem of precise control and autonomous navigation of ships in the navigation process,combined with the advantages and disadvantages of a single navigation system,this paper selects the navigation mode of Beidou/inertial integrated navigation,and takes the Kalman filter with error as the variable as the core algorithm to make up for the larger integral error of inertial navigation for a long time and the Beidou is easy to lose lock and be easily cheated by electronic devices when encountering complex terrain signals The lack of.Firstly,the output data of inertial sensor and magnetometer are fused by Kalman filter algorithm.Secondly,the navigation data provided by Beidou is compensated by Kalman filter algorithm.This paper first introduces the Kalman filter algorithm,establishes the mathematical model of Beidou/inertial integrated navigation system and carries out simulation analysis.Finally,the reliability of Kalman filter in integrated navigation system is illustrated by simulation experiment.