惯性/天文深组合非线性定位算法 SINS/CNS tightly integrated navigation positioning algorithm with nonlinear<br />filter期刊界 All Journals 搜尽天下杂志传播学术成果专业期刊搜索期刊信息化学术搜索

惯性/天文深组合非线性定位算法

引用本文：	赖际舟,于永军,熊智,刘建业. 惯性/天文深组合非线性定位算法[J]. 控制与决策, 2012, 27(11): 1649-1652

作者姓名：	赖际舟于永军熊智刘建业

作者单位：	南京航空航天大学导航研究中心

基金项目：	国家自然科学基金项目(60904091,91016019,61174197);航空科学基金项目(20090852012);国家民用973课题项目(2009CB724002(09));江苏省高校“青蓝工程”项目

摘要：	针对传统惯性/天文定位算法进行天文导航定位时需要通过迭代计算获得载体的经纬度信息,会不可避免地引入定位计算误差问题,推导了天文高度角与平台误差角和水平位置误差的数学模型,进而提出了以天文高度角为量测信息的基于无迹卡尔曼滤波的惯性/天文深组合导航算法.仿真结果表明,所提出的算法利用单颗星即可进行定位,3颗星时组合导航定位精度达到100 m,有效提高了惯性/天文组合定位精度.
关键词：	天文导航惯性导航深组合组合导航无迹卡尔曼滤波
收稿时间：	2011-07-13
修稿时间：	2012-02-05
SINS/CNS tightly integrated navigation positioning algorithm with nonlinear filter

LAI Ji-zhou,YU Yong-jun,XIONG Zhi,LIU Jian-ye. SINS/CNS tightly integrated navigation positioning algorithm with nonlinear filter[J]. Control and Decision, 2012, 27(11): 1649-1652

Authors:	LAI Ji-zhou YU Yong-jun XIONG Zhi LIU Jian-ye

Affiliation:	(Navigation Research Center,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China.)

Abstract:	Strapdown integrated navigation system/celestial navigation system(SINS/CNS) integrated navigation positioning system is widely used in unmanned aerial vehicles(UAVs) with high altitude and long range. CNS gets the position information using iteration calculation, so traditional SINS/CNS positioning algorithm setting the position error between INS and CNS as measurement can introduce positioning calculation error inevitably. The model of altitude azimuth, platform error angles and horizontal position is designed. Furthermore, the SINS/CNS tightly integrated algorithm using unscented Kalman filter(UKF) is designed, in which CNS altitude azimuth is the measurement information. The simulation results show that SINS/CNS algorithm can calculate the position using one star information, and the precision which reaches 100m using three stars is improved effectively.

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