摘要
嵌入式导航系统受限于硬件资源,难以应用复杂的滤波算法。因此,为降低导航算法复杂度,同时保证嵌入式导航系统的精度,设计一种基于GPS/INS组合导航系统的速度误差修正算法。该算法先计算GPS和INS导航的速度先验分布,筛选异常数据。然后求取两种先验分布的交集作为后验分布,并修正速度误差。最后利用后验分布求得最优估计。计算仿真结果表明,误差修正算法有效的消除了INS导航的累积误差,并且修正后的速度误差较GPS导航有所降低。同时,该算法占用计算资源少,对嵌入式导航系统的设计有一定借鉴意义。
Complex filtering algorithms can not be applied in a embedded navigation system,which is limited by hardware resources.In order to reduce the complexity of navigation algorithm and ensure the accuracy of embedded navigation system,a speed error correction algorithm based on GPS/INS integrated navigation system has been designed.The algorithm firstly calculates the prior velocity distribution of GPS and INS navigation and filters the abnormal data.Then the intersection of the two prior distributions is obtained as a posterior distribution,and the velocity error is corrected.Finally,the posterior distribution is used to obtain the optimal estimate.The simulation results show that the error correction algorithm can effectively eliminate the cumulative error of INS navigation,and the corrected velocity error is lower than that of GPS navigation.At the same time,the algorithm occupies less computing resources,which can be used as reference in the design of embedded navigation system.
作者
江军
丁梦磊
贾海杰
Jiang Jun;Ding Menglei;Jia Haijie(713 Institute of China Shipbuilding Industry Corporation,Zhengzhou 450015,China;Henan Key Laboratory of Underwater Intelligence Equipment,Zhengzhou 450015,China)
出处
《战术导弹技术》
北大核心
2019年第4期62-68,92,共8页
Tactical Missile Technology
