摘要
利用里程计辅助捷联惯导系统构成一种自主式组合导航系统.用捷联惯导系统解算出的速度和里程计所测量的速度之差作为观测量,利用闭环卡尔曼滤波技术进行误差估计与校正,并给出了仿真结果.仿真结果表明,该组合导航系统可有效地减小速率、经度和纬度、航向角和姿态角及航迹推算下的位置等导航参数的累积误差.
Discusses an independently integrated navigation system(SINS) using the distance-transfer-unit(DTU) to assist the strapdown inertial navigation system(SINS/DTU). The observational measures of the SINS/DTU are the velocity's differences between SINS and DTU,and the SINS/DTU also adopts a closed Kalman filter to estimate and correct the errors. The results of simulation given in this paper indicate that the SINS/DTU can effectively improve on the following navigation parameters:velocity, latitude and longitude, yawing and attitude angle, position of track-reckoning etc.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2004年第9期808-811,共4页
Transactions of Beijing Institute of Technology
基金
国家部委预研项目(4213090404)
关键词
捷联惯导
里程计
自主式组合导航
卡尔曼滤波
strapdown inertial navigation
distance-transfer-unit
independently integrated navigation
Kalman filter
