摘要
提出了一种INS/Doppler/GPS组合导航系统中航向误差的辨识方法。经过坐标转换得到的Doppler速度中包含了惯导系统航向误差的影响,可以考虑以GPS速度为基准信息,从Doppler速度中解算航向误差。但由于速度噪声的影响,这样得到的航向误差带有大量噪声。该方法用一个以时间为变元的多项式来逼近航向误差,以解算出的航向误差作为观测量,采用递推最小二乘法辨识出该多项式的各次项系数,进而计算出航向误差,达到滤除观测噪声的效果。仿真试验表明,在GPS速度噪声标准差为0.1 m/s、Doppler速度噪声标准差为0.5 m/s的情况下,航向误差的辨识精度优于0.22'(2σ),收敛时间不超过120s。
A method was put forward to identify the heading error of the INS in INS/Doppler/GPS integrated navigation system.The Doppler velocity that was transformed from the body-fixed coordinates to the geographical coordinates included the influence of the heading error,so the heading error could be solved with GPS velocity aided.This heading error,used as observation,included a lot of noise because of the velocity noise.A polynomial was used to approximate the heading error in this method,and the coefficients of the polynomial could be identified by RLS method from the observation,so the heading error could be estimated.Thus the noise of the observation could be filtered.The result of simulation showed that the identified accuracy of the heading error was less than 0.22 '(2σ) and the convergence time less than 120 s while the standard deviation of the GPS velocity was 0.1 m/s and the Doppler velocity 0.5 m/s.
出处
《中国惯性技术学报》
EI
CSCD
2006年第6期34-36,共3页
Journal of Chinese Inertial Technology
