摘要
选取捷联惯导系统误差作为组合导航系统状态,利用捷联惯导与卫星导航系统各自的位置输出构造量测,设计惯性/卫星组合导航算法。在惯性/星光组合导航算法设计中,对星敏感器安装误差进行建模并也列入组合导航系统状态,利用星敏感器输出的姿态矩阵和根据惯导输出计算得到的等效姿态矩阵构造量测。从而,利用联邦滤波技术设计出弹载惯性/卫星/星光高精度组合导航方法。该组合导航方法的仿真结果表明,其定位、定姿精度分别达到12.1m(3σ)和0.27′(3σ),而且能够有效标定出惯性器件的随机常值误差和星敏感器的安装误差。
The inertial/satellite integrated navigation algorithm is designed by choosing the errors of strapdown inertial navigation system（SINS） as the states of integrated navigation system and using the respective position outputs from SINS and satellite navigation system to construct the measurements.In the designing of the inertial/starlight integrated navigation algorithm,the misalignments of star sensor are modeled and also chosen as the states of integrated navigation system,and the attitude matrix output from star sensor and the equivalent attitude matrix calculated by the outputs from SINS are used to construct the measurements.Then the method for inertial/satellite/starlight integrated navigation for missile is designed by the federated filtering technology.The results of simulation with this integrated navigation method show that the position and attitude accuracies reach 12.1m（3σ） and 0.27′（3σ） respectively,and both the random constant errors of inertial instruments and the misalignments of star sensor are effectively calibrated.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2010年第4期444-449,共6页
Journal of Chinese Inertial Technology
基金
中国博士后科学基金资助(20090461471)
关键词
惯性导航
卫星导航
星光导航
组合导航
联邦滤波
inertial navigation
satellite navigation
starlight navigation
integrated navigation
federated filter
