摘要
根据高空长航时无人机的特点研究了SINS/CNS组合导航系统并进行了仿真。研究了分段定常系统(PWCS)的可观测性分析方法和基于奇异值分解的系统状态可观测度分析问题,并提出了一种改进的状态可观测度分析方法,在求状态变量的可观测度时,抛开了观测量,只利用可观测矩阵进行分析,然后将该理论应用到SINS/CNS组合导航系统中,证明了其合理性与可行性,进一步根据可观测度分析的结果对系统进行反馈校正,通过仿真结果证明导航精度得到了提高。
The SINS/CNS integrated navigation system based on characteristics of high-altitude and long-flighttime unpiloted aircraft is investigated. The observability analysis method of piece-wise constant system （PWCS） and the observable degree analysis of the system states based on the singular value decomposition are researched. A new method is proposed to analyze the observable degree of the system states. This method is based on the observability matrix and has nothing to do with the observation vector . The method is applied in the simulation of the SINS/CNS integrated navigation system. The results of the simulation show that this method is rational and feasible. Based on the observability degree of the states, the feedback method of the navigation system is researched and a method to improve the precision of navigation system is produced.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2006年第2期299-304,共6页
Acta Aeronautica et Astronautica Sinica
基金
总装"十五"预研资助项目
关键词
捷联惯导
天文导航
卡尔曼滤波
可观测度
strapdown inertial navigation system
celestial navigation system
Kalman filter
obserbability analysis
