摘要
提出了基于自适应滤波的天文/惯性/北斗组合导航算法。分析了卫星几何构型对北斗导航系统定位精度的影响,提出了基于卫星可见星数目及卫星几何构型的自适应滤波方案;针对卫星拒止情形,设计了天文辅助的惯性/北斗紧组合导航方案;基于树莓派3B,构建了组合导航系统样机,通过动态试验进行测试分析。结果表明,提出的自适应滤波算法整体性能优于单独采用北斗导航系统及非自适应滤波算法性能,导航结果验证了组合导航系统样机硬件平台及导航算法的正确性及工程实用性。
Astronomical/SINS/BD integrated navigation algorithm with adaptive filtering is put forward.Firstly,we analyzed the influence of satellite geometry on the positioning accuracy of BeiDou Navigation satellite system.Based on this,an adaptive filtering scheme based on the number of visible stars and satellite geometry of BeiDou satellite is proposed.For the case of BeiDou navigation satellite rejection,we designed the astronomical aided SINS/BD tight combination navigation scheme.Finally,based on the Raspberry Pi 3 B embedded system,the prototype of the SINS/BD integrated navigation system based on astronomical aid was constructed,and real-time test analysis was carried out through dynamic experiments.The experimental results showed that the adaptive filtering algorithm studied in this paper has a good applicability to the hopping of the information of the Big Dipper.The hardware platform and navigation algorithm of the integrated navigation system was verified by the navigation results.
作者
李文龙
熊智
孙瑶洁
殷德全
LI Wen-long;XIONG Zhi;SUN Yao-jie;YIN De-quan(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《航空计算技术》
2019年第2期46-49,共4页
Aeronautical Computing Technique
基金
国家自然科学基金项目资助(61673208
61703208
61873125
61533008
61533009)
装备预研项目资助(30102080101)
江苏省"333工程"科研资助立项项目资助(BRA2016405)
江苏省自然科学基金项目资助(BK20181291
BK20170815
BK20170767)
航空科学基金项目资助(20165552043
20165852052)
中央高校基本科研业务费专项资助(NP2018108
NZ2018002
NJ20170005
NP2017209
NZ2016104)
江苏高校优势学科建设工程项目和江苏省"物联网与控制技术"重点实验室基金
航空电子系统综合技术重点实验室资助
关键词
惯性/北斗
自适应滤波
天文辅助
组合导航
SINS/BD
adaptive filtering
astronomical aid
integrated navigation
