基于序贯处理的航位推算组合导航算法研究

对由捷联惯导和测速设备所搭建的航位推算系统进行了研究,提出了一种基于航位推算系统的组合导航算法。该算法在传统的航位推算算法的基础上,利用惯组中加速度计组合的输出和航位推算给出的位置与姿态完成了惯导速度更新。将惯导速度与航位推算速度构造的速度量测和由航位推算位置与地标点给出的位置参考构成的位置量测输入卡尔曼滤波器,采用序贯处理完成了对姿态误差的估计。这种方法较好的解决了组合导航系统具有多个输出频率差异很大的量测时信息融合的问题。最后通过半实物仿真对该算法的有效性进行了验证。

Sequential Processing Kalman Filter Algorithm for Dead Reckoning Intergated Navigation System

The dead reckoning system constructed by strapdown inertial navigation system and velocity-measuring device is studied.And an integrated navigation algorithm based on the dead reckoning system is put forward in this paper.The algorithm makes use of the output of accelerometers and dead-reckoning parameters to update the velocity of SINS.The velocity measurement,constructed by SINS and dead reckoning velocity,combines the position measurements,given by dead reckoning position and landmarks,is used to estimat...