摘要
研究一种新型的基于捷联惯导(SINS)和GPS的组合导航系统。以捷联惯导作为主系统,同时利用GPS重调捷联惯导系统,建立该组合导航系统的卡尔曼滤波模型,设计输出校正间接法的卡尔曼滤波算法和Sage-husa自适应卡尔曼滤波算法。仿真结果表明:由于GPS位置和速度信息的引入,克服了捷联惯导系统误差状态发散现象,提高了导航精度。Sage-husa自适应卡尔曼滤波算法则具有更高的滤波精度和稳定性,能更好地满足长时间远距离导航的要求。
The SINS/GPS integated navigation system was studied.Taking strapdown inertial navigation system as the main system together with a GPS reset strapdown inertial navigation system,the Kalman filter model for the system was built up.The Kalman filter algorithm with output correction indirect method and the Kalman filter algorithm using sage-husa self-adaption to SINS/GPS integrated navigation system were designed.The simulation results reveal that due to the GPS position and speed the introduction of information,the strapdown inertial navigation system error state divergent phenomenon disappears,and the navigation accuracy is improved.Sage-husa adaptive Kalman filtering algorithm has higher filtering accuracy and stability,and it can better meet the requirements of long distance navigation.
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第S2期155-159,共5页
Journal of Central South University:Science and Technology
基金
江苏省产学研前瞻性联合研究项目(2011)
江苏省研究生科研创新计划项目(CXLX12_0692)
