摘要
针对相对定位估计系统,详细分析了因视线矢量的加法观测模型中观测矢量不是单位矢量,而导致定位计算中观测矢量内积期望值与实际值不符,造成了计算误差.基于乘法观测模型得到了带有修正项的内积期望计算式,数值仿真表明其精度远高于原有期望计算值.提出了对定位计算中多视线矢量观测误差的矢量旋转修正方法.通过仿真算例验证了修正算法的有效性,视线矢量间夹角与误差均方差比值越小,定位精度提高程度越大.
This paper focuses on the accuracy of the relative positioning system.The observed vector in the additive measurement model of line-of-sight vector is no longer normalization,which leads that the expectation of observed vectors inner product deviates from the realistic one,and induces error propagation during the positioning calculation.The corrected expectation formula of inner product is obtained based on the theory of multiplicative measurement model.Numerical tests show that the new expectation value is much more accurate than the original one.The united correction method to multiple line-of-sight vector observation errors for positioning calculation is proposed.The effectiveness of the correction algorithm is validated by simulation.The tinier the ratio between angle of vectors and standard deviation of errors is,the more accurate the positioning will be.
出处
《河北工业大学学报》
CAS
北大核心
2013年第2期28-33,共6页
Journal of Hebei University of Technology
基金
国家高技术研究发展计划(863计划)(2011AA***2013)
航天支撑技术基金(10123**)
关键词
多视线矢量定位
加法观测模型
乘法观测模型
矢量内积期望
误差修正
multiple line-of-sight positioning
additive measurement model
multiplicative measurement model
expectation of vector inner product
error correction
