摘要
针对卡尔曼反馈校正难以工程实现的问题,提出了用卡尔曼输出校正来进行组合导航滤波的方法。对卡尔曼输出校正的滤波效果进行了理论分析和仿真验证,并在基于光纤陀螺的INS/GPS(Inertial Navigation System/Global Position System)组合导航系统上进行了实验。实车实验结果表明:卡尔曼输出校正的定位精度和GPS定位精度相当,惯性导航系统误差随时间增长特性得到了有效抑制,从而验证了卡尔曼输出校正的方法在组合导航的应用中是可靠的。
Aiming at the problem that the feedback Kalman filter is difficult to be implemented, the method of open-loop Kalman is presented in the paper. Performance of open-loop Kalman filter is testified by theoretical analysis and simulation. INS/GPS integrated navigation based on fiber-optic gyroscope is developed. Experimental results show that the orientation accuracy of open-loop Kalman filter is corresponded to GPS, the peculiarity that error of INS is increased with time is restrained. Consequently, the meth...
出处
《装甲兵工程学院学报》
2010年第5期53-56,共4页
Journal of Academy of Armored Force Engineering
基金
军队科研计划项目
关键词
INS仿真器
组合导航
卡尔曼滤波器
光纤陀螺
INS simulator
integrated navigation
Kalman filter
Fiber-Optic Gyroscope （FOG）
