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陆地车辆GNSS/MEMS惯性组合导航机体系约束算法研究

Keywords: MEMS惯性导航系统,卫星导航,组合导航,机体系约束,扩展卡尔曼滤波

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Abstract:

针对陆地车辆导航应用,基于速度特性建立了机体系约束用以提高卫星导航系统(GNSS)/微硅机械(MEMS)惯性组合导航系统的性能.该约束将与车体运动方向相垂直的平面上的线速度近似为0,从而增加了组合系统的扩展卡尔曼滤波时间上连续的两维虚拟观测量,卫星信号失效时可保持滤波器的量测更新,当无外部观测量且车辆处于动态情况下,滤波可持续估计与反馈.车载实验表明,组合系统在卫星信号失效30s时,采用该算法可以将系统的定位精度提高约75%,姿态精度及速度精度也有相应的提高.

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