惯性/陆基无线电组合导航算法研究

Research on INS/Land-based Radio Integrated Navigation Algorithm

对惯性/陆基无线电组合导航算法进行了研究。基于陆基无线电导航测距原理,提出了利用不同时刻测距信息实现定位的解算方法,并设计了松耦合和紧耦合两种组合导航滤波器。仿真结果表明,提出的陆基无线电导航算法可以实现准确定位,两种滤波方式均可在无伪距率观测信息的条件下单独采用非同时的地面站伪距信息,在实现高精度定位的同时获得高精度的速度信息。紧耦合滤波算法的导航精度优于松耦合滤波算法,且对地面站少于四个的情况适应性好。

The INS/land-based radio integrated navigation algorithm is studied. Based on the ranging principle of land-based radio navigation, the positioning algorithm using non-simultaneous pseudo-ranges is proposed, and the loosely-coupled and tightly-coupled integrated navigation filters are designed. The simulation results demonstrate that the proposed positioning algorithm can get accurate position, and two integrated navigation filters can use non-simultaneous pseudo-ranges of ground station separately without pseudo-rage rate observation information to achieve accurate position and velocity. The navigation accuracy of the tightly-coupled algorithm is superior to the loosely-coupled algorithm, and the tightly-coupled algorithm has good adaptability when the number of land-stations is fewer than four.