摘要
针对有人/无人艇集群作战时卫星导航易受干扰或压制的问题,提出了一种基于网平差的单基准节点协同导航算法。基于单个卫导可用节点的卫导定位信息、卫导不可用节点的惯导/多普勒计程仪组合位置增量信息和不同节点之间的相互测距信息,利用网平差算法进行集群内各节点的位置估计,为卫导不可用节点惯导校正提供高精度位置信息。解决了只有一个节点获得卫导信息时的有人/无人艇集群绝对位置估计问题。最后开展数值仿真试验,验证了论文所提算法的有效性。
Collaborative navigation algorithm of one single datum node based on network adjustment is proposed,aiming at the issue that satellite navigation of manned/unmanned vehicle cluster is susceptible to be interfered or suppressed.Based on the position of available GNSS navigation,the incremental position of the inertial navigation/Doppler log integration,and the mutual distance measurement between different nodes,a network adjustment algorithm is used to estimate the position of each node in the cluster,in order to provide high-precision position for the inertial navigation correction.It is completed that absolute position is estimated for manned/unmanned vehicle clusters when only one node obtains satellite navigation information.Finally,numerical simulation experiments are conducted to verify the effectiveness of the algorithm proposed in this paper.
作者
李经
LI Jing(The First Military Representative Office of the Naval Equipment Department in Shanghai,Shanghai 201913)
出处
《舰船电子工程》
2025年第12期62-66,140,共6页
Ship Electronic Engineering
关键词
协同导航
网平差
单基准节点
数据融合
collaborative navigation
network adjustment
one single datum node
data fusion
