全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

SINS/GPS组合导航系统解析性能分析

DOI: 10.11990/jheu.201407066

Keywords: 捷联惯导系统, 组合导航系统, 解析性能, 误差方程, 位置误差, 速度误差

Full-Text   Cite this paper   Add to My Lib

Abstract:

由于SINS误差方程对载体动态和时间的依赖性,使得SINS/GPS组合导航系统性能的解析解很难获得。针对上述问题,对误差方程进行简化,在Kalman滤波稳定性的基础上,通过代数Riccati方程将不同辅助方式下SINS性能与惯性测量单元(IMU)品质、GPS性能和辅助方式之间建立联系,获得解析解,为组合导航系统的设计提供新思路。研究结果表明:解析方法可以用来预估SINS/GPS组合导航系统的性能。最后,通过仿真验证了该方法的可行性与有效性。

References

[1]  MOHAMED A H, SCHWARZ K P. Adaptive Kalman filtering for INS/GPS[J]. Journal of Geodesy, 1999, 73(4):193-203.
[2]  徐慧娟,吴美平,罗兵. EKF和UKF在INS/GPS组合导航中的应用分析[J].航天控制, 2006, 24(6):7-10, 16. XU Huijuan, WU Meiping, LUO Bing. Analysis of extended and unscented Kalman filtering for INS/GPS Integration[J]. Aerospace Control, 2006, 24(6):7-10, 16.
[3]  秦永元.惯性导航[M].北京:科学出版社, 2006:355-361. QIN Yongyuan. Inertial navigation[M]. Beijing:Science Press, 2006:355-361.
[4]  付梦印,邓志红,张继伟. Kalman滤波理论及其在导航系统中的应用[M].北京:科学出版社, 2003:45-53. FU Mengyin, DENG Zhihong, ZHANG Jiwei. Kalman filtering theory and its application in navigation system[M]. Beijing:Science Press, 2003:45-53.
[5]  邓正隆.惯性技术[M].哈尔滨:哈尔滨工业大学出版社, 2006:171-177. DENG Zhenglong. Inertial technology[M]. Harbin:Harbin Institute of Technology Press, 2006:171-177.
[6]  帅平,陈定昌,江涌. GPS/SINS组合导航系统状态的可观测度分析方法[J].宇航学报, 2004, 25(2):219-224, 246. SHUAI Ping, CHEN Dingchang, JIANG Yong. Observable degree analysis method of integrated GPS/SINS navigation system[J]. Journal of Astronautics, 2004, 25(2):219-224, 246.
[7]  FITZGERALD R J. Simple tracking filters:closed-form solutions[J]. IEEE Transactions on Aerospace and Electronic Systems, 1981, AES-17(6):781-785.
[8]  KLEIN I, RUSNAK I. Semi-analytic solution of ECA filter with position and velocity measurements[C]//50th Israel Annual Conference on Aerospace Sciences. Israel, 2010.
[9]  吴美平,胡小平.捷联惯导系统误差状态可观性分析[J].宇航学报, 2002, 23(2):54-57. WU Meiping, HU Xiaoping. Observability analysis of SINS’ error states[J]. Journal of Astronautics, 2002, 23(2):54-57.
[10]  GOSHEN-MESKIN D, BAR-ITZHACK I. Observability analysis of piece-wise constant systems. I. Theory[J]. IEEE Transactions on Aerospace and Electronic Systems, 1992, 28(4):1056-1067.
[11]  黄晓瑞,崔平远. GPS/INS组合导航系统自适应滤波算法与仿真研究[J].飞行力学,2001,19(2)69-72. HUANG Xiaorui, CUI Pingyuan. Research on adaptive filter algorithm and simulation for GPS/INS the integrated navigation[J]. Flight Dynamics, 2001, 19(2):69-72.
[12]  YANG Y, ZHANG S. Adaptive fitting of systematic errors in navigation[J]. Journal of Geodesy, 2005,79:43-49.
[13]  高为广,杨元喜,崔先强. IMU/GPS组合导航系统自适应Kalman滤波算法[J].武汉大学学报,2006,5(31):466-469.GAO Weiguang, YANG Yuanxi, CUI Xianqiang. Application of adaptive Kalman filtering algorithm in IMU/GPS integrated navigation system[J]. Journal of Wuhan University, 2006,5(31):466-469.
[14]  ABDEL-HAFEZ M F. High integrity GPS/INS filter for precise relative navigation[D]. Los Angeles:University of California, 2003.
[15]  YANG Yuanxi, GAO Weiguang. An optimal adaptive Kalman filter[J]. Journal of Geodesy, 2006,80:177-183.
[16]  钱伟行,刘建业,赵伟,等,基于转动基座的SINS初始对准方法研究[J].宇航学报,2008,29(3):928-932. QIAN Weixing, LIU Jianye, ZHAO Wei, et al. SINS initial alignment based on revolving base[J]. Journal of Astronautics, 2008,29(3):928-932.
[17]  袁书明,程建华,陶冶.单轴旋转捷联式系统惯性器件误差指标确定方法研究[J].哈尔滨工程大学学报,2013, 34(8):1017-1022.YUAN Shuming,CHENG Jianhua,TAO Ye. Inertial sensor error index confirmation method for single-axis rotation strapdown inertial navigation system[J]. Journal of Harbin Engineering University, 2013, 34(8):1017-1022.
[18]  LIN C F. Modern navigation guidance and control processing[M]. Upper Saddle River:Prentice Hall, 1991.
[19]  ZARCHAN P, MUSOFF H. Fundamentals of Kalman filtering:A practical approach[M]. 2nd ed. Rston, Virginia:The American Institute of Aeronatics and Astronautics, Inc., 2005.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133