摘要
针对GNSS/SINS松组合系统中误差状态量不可观测,因而无法被准确估计的问题,提出对当地水平坐标系下的GNSS/SINS组合导航系统进行可观测性分析,从而揭示系统参数与状态量估计之间的内在联系,为工程实践中快速实现高精度定位定姿提供参考:以18维状态量的松组合滤波模型为对象,研究当地水平坐标系下载体运动状态与杆臂误差、姿态误差以及加计零偏可观测性的关系;最后通过仿真数据对可观测性理论分析的结论进行验证。结果表明:杆臂误差的可观测性与载体的直线运动无关,而载体的角运动将提高杆臂误差的估计;载体直线运动时,姿态误差与水平向加计零偏耦合,与天向加计零偏解耦。
Aiming at the problem that the states of unobservable error in the loosely coupled GNSS/SINS integrated sys tern cannot be estimated accurately, the paper analyzed the observability of the GNSS/SINS integrated navigation system under the local horizontal coordinates to explore the intrinsic relationship between the system parameters and the state estimates, which could provide a reference for rapidly achieving the high precise positioning and orientating in practice： the 18 dimensional fihering model was studied, and the relationship between the carrier motion and the observability of lever arm error, attitude error and accelerometer bias was given; finally, a covariance simulation was performed. Experimental result showed that： the observability of the level arm error would be independent of the linear motion of the carrier, while the angular motion would improve the estimation of the level arm error; moreover, the translational motion could make attitude error coupled with the level components of accelerometer bias, and decoupled with the vertical component of accelerometer bias.
作者
肖佳敏
朱锋
张小红
XIAO Jiamin;ZHU Feng;ZHANG Xiaohong(School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China)
出处
《导航定位学报》
CSCD
2018年第4期35-41,74,共8页
Journal of Navigation and Positioning
关键词
可观测性
组合导航
杆臂误差
分段定常系统可观测性理论
松组合
observability
integrated navigation
lever arm error
observability theory of piece wise constant system
loosely coupled
