摘要
以某型自行火炮炮载惯导系统为研究对象,针对系统剩余高阶非线性误差得不到有效补偿的问题,结合卡尔曼滤波(KF),提出了基于快速正交搜索(FOS)的组合估计方法,既消除了线性误差,也对系统的高阶非线性误差起到了良好的抑制作用。试验结果表明,在没有卫星信号的情况下,与单独使用KF相比,FOS/KF可以有效提高导航精度,经过补偿后的平均水平速度误差仅为0.034 m/s,定位误差可基本保持在10 m以内,实现了非线性条件下的高精度自主导航。
The gun-board strapdown inertial navigation system is taken as the research object. Because of the residual high order nonlinear error of the system can not be compensated effectively, a combination estimation method based on fast orthogonal search algorithm （FOS） is proposed, combined with Kalman filter （KF）, which not only eliminates the linearity error, but also plays a good role in restraining the residual high-order nonlinear error of the system. The results show that, when GPS is outage, the navigation accuracy can be improved more effectively by FOS/KF compared with by KF-only. After the compensation, the average horizontal velocity error is only 0.034 m/s, the positioning error can be basically kept within 10m, and the high precision autonomous navigation under nonlinear condition is realized.
作者
王志伟
秦俊奇
杨功流
石志勇
狄长春
王风杰
WANG Zhi-wei1, QIN Jun-qil, YANG Gong-liu2, SHI Zhi-yong1, DI Chang-chun1, WANG Feng-jie3(1. Ordnance engineering college, Shijiazhuang 050003, China; 2. Beihang University, Beijing 100191, China; 3. Unit 63870 of PLA, Huayin 714200, Chin)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2017年第5期592-598,共7页
Journal of Chinese Inertial Technology
基金
国防预研基金(9140A09040112JB34111)
