摘要
对SINS、北斗双星定位系统以及GPS全球定位系统三者的组合进行了研究。应用联邦自适应卡尔曼滤波技术实现了SINS、北斗和GPS的组合导航,建立了组合导航系统的数学模型,并针对系统产生的量测延时和异步问题给出了较好的解决方案。最后对系统进行了仿真试验,仿真结果表明该组合导航系统具有较高的精度和容错性能,此方案具有较好的工程应用价值。
The integrated navigation of SINS/Beidou/GPS system is studied. The whole system is realized by the technology of federal adaptive filtering, and the mathematic model of integrated system is built up. Meanwhile a solution to the delay and asynchronous problems in the instrumentation is proposed. In the end, the result of simulation indicates that the integrated navigation has high precision and good tolerance to faults, the system design method is successful ,and it has better value of engineering application.
出处
《火力与指挥控制》
CSCD
北大核心
2009年第6期131-134,共4页
Fire Control & Command Control
基金
国家部委基金资助项目(514530601052S3301)
关键词
联邦滤波
组合导航
卡尔曼滤波
北斗双星
federal filtering ,integrated navigation,kalman filtering ,beidou satellite navigation
