摘要
针对机载惯性/天文组合导航系统(inertial navigation system/celestial navigation system,INS/CNS)高精度紧组合导航系统数据输出滞后问题,提出一种基于扩展卡尔曼滤波(extended Kalman filter,EKF)方法的多模型时延补偿方法,该方法通过降低定位、航向和速度误差来实时校正导航数据,为INS/CNS组合导航系统解决量测滞后和子系统间量测非等间隔输出问题提供新途径.将其应用到INS/CNS组合导航系统中,仿真结果表明经、纬度定位误差从50 m降低至10 m,航向角误差从8′降低至0.5′,东和北方向速度误差分别从0.3 m/s、1.5 m/s降低至0.01 m/s、0.1 m/s,并且定位误差的蒙特卡洛误差影响因子在规定范围之内.
To address the data output delay problem in the high-precision tightly coupled inertial navigation system/celestial navigation system(INS/CNS),a multi-model time delay compensation method based on the extended Kalman filter(EKF)is proposed.This method enables real-time calibration of navigation data and offers a novel approach to resolving measurement delays and irregular output intervals among subsystems.The experimental results show significant improvements:the positioning error in latitude and longitude is reduced from 50 m to 10 m;the heading angle error is reduced from 8′to 0.5′;and the velocity error in eastward and northward celestial directions is reduced from 0.3 m/s and 1.5 m/s to 0.01 m/s and 0.1 m/s,respectively.Furthermore,Monte Carlo simulations confirm that the positioning error influence factor remains within the specified range,validating the robustness of the system performance.
作者
董强
王晓
李雪
崔勇
吴昊
DONG Qiang;WANG Xiao;LI Xue;CUI Yong;WU Hao(CRSC Communication and Information Group Co.,Ltd.,Beijing 100070,China;China Railway Construction Electrification Bureau Group Co.,Ltd.,Beijing 100043,China)
出处
《全球定位系统》
2025年第5期80-88,共9页
Gnss World of China
基金
西安市博士后创新基地科研项目(2019-13)。
