摘要
针对SINS/GPS组合导航系统的误差传递模型进行了可观测度分析,确定了卡尔曼滤波器对系统各个状态的估计效果.在飞行器处于不同飞行姿态下,通过对相应的状态估计误差协方差阵的特征值及特征向量的比较,发现在动基座对准时,对飞行器引入线加速度可显著提高方位角的估计精度,并且在相同的条件下,拐弯运动的方位角估计速度更快、精度更高.此外,拐弯运动能够估计出加速度计零位偏置.此方法可以为飞行器在初始对准时选择最佳机动方案提供依据.
The degree of observability to the error propagation model of SINS/GPS integrated navigation system is analyzed, from which the estimated effect on each state is shown with Kalman Filter. Besides, this work compares the eigenvalues and eigenvectors of error covariance matrices and notices that the estimated accuracy is improved obviously by introducing acceleration under the condition of vehicles＇ different attitudes on moving base. Furthermore, the azimuth angle can be estimated not only faster but more accurate and the acceleration biases can be calibrated through turning movement under the same conditions. So this work can provide evidence of optimum moving scheme for initial alignment.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2007年第7期1025-1027,1075,共4页
Journal of Harbin Institute of Technology
关键词
捷联惯导系统
可观测度
初始对准
卡尔曼滤波
strapdown inertial navigation system
degree of observability
initial alignment
Kalman filtering
