摘要
针对北斗系统有源定位方式保密性差、用户数目有限,不能提供连续的位置、速度、姿态信息的问题,提出利用北斗系统3颗地球静止卫星的载波相位时间差分信息,与车载捷联惯导(SINS)构成紧组合导航系统,通过扩展卡尔曼滤波器估计并修正惯导系统的速度误差;引入载体的侧向和天向速度约束,改善了速度估计精度;结合北斗系统的伪距信息,消除了长航时条件下位置误差的积累;推导了滤波器观测方程,对组合导航滤波器进行了设计;通过车载实验进行了验证,实验结果表明,速度误差和位置误差的积累受到了有效地抑制,精度满足陆地战车导航的要求。
Considering the limits of RDSS in active positioning mode, such as poor security, limited capacity, and inability to continuously provide position, velocity and attitude outputs, a technique of tightly coupled RDSS/SINS integrated navigation system is proposed for land vehicles by utilizing the time differenced carrier phase of 3 geostatic satellites. The velocity errors of inertial system are estimated and corrected by Extended Kalman Filter （EKF）. By introducing lateral and vertical velocity limitation, the accuracy of velocity estimation is improved. The position error accumulation in long - playing navigation is attenuated by integrating pseudo - range measurement. The observation equation is deduced and a Kalman filter for integrated navigation is designed. The algorithm is validated by vehicle tests. The results show that this technique can remarkably attenuate the accumulations of velocity errors and position errors. The accuracy satisfies the requirements of land vehicle navigation.
出处
《电光与控制》
北大核心
2007年第2期55-58,共4页
Electronics Optics & Control
基金
国家自然科学基金项目(60234030)
国防预研基金项目(51409010203KG0152)
