基于抗差Kalman的天导/惯导组合导航技术

The technology of CNS/INS integrated navigation based on anti-disturbance Kalman filter

以天导位置作为量测信息对惯导设备进行综合校正时,天导位置误差因测星修正作用存在“误差回降”现象,降低惯导设备误差估计效果。针对上述问题,提出基于抗差Kalman的天导/惯导组合导航技术,降低“误差回降”对滤波精度和稳定性影响。试验表明,采用抗差Kalman可稳定估计惯导误差,证实所提方案具有较强的应用价值。

When the position of celestial navigation system is used as the measurement information for the integrated correction of the inertial navigation system,the position error of the celestial navigation system has a"error fall back"phenomenon due to the correction effect of the star measurement,which reduces the error estimation effect of the inertial navigation system.According to the above problems,the inertial navigation integrated correction technology based on the position of the celestial navigation system is proposed on the basis of anti-disturbance Kalman.The test results show that anti-disturbance Kalman filter can estimate the error of the inertial navigation system stably,which proves the the mathod we proposed has high application value.