摘要
当可见卫星数低于4颗时,惯性/卫星松组合方式不能正常工作,紧组合方式虽能工作但当载体出现频繁的大角度转向时,导航误差易出现较大波动,特别是姿态角误差在长时间导航时出现发散的情况。针对上述问题,对比了当载体在频繁转向时,不同的紧组合观测信息对系统导航误差的影响,提出基于多模型的自适应姿态估计方法。设计模糊逻辑推理,智能判断载体的运动状态,自适应分配对应姿态估计的权重,从而提高MIMU/GPS组合导航系统性能。仿真实验表明,该方法解算的速度精度在0.1 m/s以内,位置精度在5 m以内,而且不受载体大角度转向的影响,能够持续输出高精度的导航信息。
When the number of visible satellites is less than 4, the loosely coupled MIMU/GPS integrated navigation system can not work normally, and the tightly coupled system’s navigation errors are susceptible to large fluctuations and even divergence in certain situations. To solve these problems, the influences of different observation information on the performance of MIMU/GPS integrated navigation system are compared and analyzed, and an adaptive attitude estimation method based on multi-model is proposed for the situation that the vehicle is turning frequently. A data adaptive fusion scheme is utilized to improve the performance of MIMU/GPS integrated navigation system through the fuzzy logic inference system with the input of vehicle maneuvers, which is an intelligent decision-making to yield the corresponding weight coefficient between the adaptive attitude estimation based on multi model and the attitude estimation based on filtering algorithm. The simulation results show that the speed precision of the proposed method is less than 0.1 m/s, and the position precision is less than 5 m, which are not affected by large angle steering of the vehicle and can continuously output high-precision navigation information.
作者
单斌
张复建
杨波
王跃钢
薛亮
腾红磊
SHAN Bin;ZHANG Fujian;YANG Bo;WANG Yuegang;XUE Liang;TENG Honglei(Department of Missile Engineering,Rocket Force University of Engineering,Xi’an 710025,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2018年第6期760-767,共8页
Journal of Chinese Inertial Technology
基金
国家自然基金资助项目(61503390)
关键词
组合导航
姿态估计
模糊逻辑
紧组合
integrated navigation
attitude estimation
fuzzy logic
tightly-coupled
