摘要
介绍了Carlson提出的分布式联邦滤波器理论 ,讨论了两类系统设计类型和四种配置模式的特性。首次提出SINS/RDSS/GPS组合导航的设想 ,并对各子系统特点进行了探讨和对SINS/RDSS子系统进行了建模 ,建议在实际开发中采用NR配置模式 ,该模式属于A类联邦滤波系统。通过算例验证了NR模式融合结果的近似最优性、优良的容错性和故障探测能力。
After SA was terminated,the GPS positioning accuracy using C/A code recovered to above 15m (DOP=2.5).And USA is planning to apply some innovations to the new generation of GPS,thus the SPS accuracy of code positioning will be better improved in the future.Since GPS is under the control of American government,we have to face the problem how to make use of the superior navigation performance of GPS in our military applications and to avoid the potential dangers as well.China has founded it's own RDSS system.According to the tests in Japan and USA,we are confident that the differential positioning accuracy of our RDSS will not be worse than 50m (2D).But RDSS still has the problem of low sampling rate,and what's more,the central processing station adopts a classification response mechanism,so the response delay of a low_grade user may be much longer than 1s.Therefore it's difficult for us depending only on RDSS to meet the demands of high dynamic users.Another deficiency of RDSS lies in the low reliability,because the space segment of RDSS consists of only two satellites.To fulfill the requirements of the high_dynamic applications and provide high reliability,this dissertation firstly proposed aiding RDSS with INS to develop the INS/RDSS integrated navigation system.Further more,in order to make full use of GPS,considering the GPS equipments already in use,we can also integrate GPS into the INS/RDSS integration.The new multi_sensor integration of INS/RDSS/GPS will not only achieve the high accuracy of the INS/GPS integration,but also increase the system reliability,which is the essential demand of the most navigation and guidance systems.So it will be of great significance developing this INS/RDSS/GPS integration,especially in military.Multi_sensor data processing methods can be classified into two basic types:centralized filters (CKF) and distributed filters.In practice,CKF may result in severe calculation burden,and the failure of any sensor will contaminate the whole system.To deal with the limitations of CKF,the distributed (or decentralized) filtering technology has received increasing attention.Speyer and Willsky made early contributions to the distributed filter theory,and then Kerr proposed a filtering structure with attractive fault_tolerant feature,but he failed to present a practical realization.Recently,Carlson developed the federated Kalman filter (FKF) method,which provides globally or near_optimal estimation accuracy based on information sharing principles.FKF realized the filtering structure of Kerr.It can be classified into two design types or four configuration modes in order to meet different design and capability demands.In these four modes,the NR mode shows a high degree of fault_tolerance and strong fault detection capability.This paper shortly presents the distributed federated filter theory put forward by Carlson,and discusses the two design types and four configuration modes.The idea of developing the SINS /RDSS /GPS integration is put forward for the first time;the characteristic of each local system is discussed and then the mathematic model of the INS/RDSS local system is constructed.It's proposed in this paper that the NR configuration mode,which belongs to design type A of FKF,should be applied to the practical development of SINS /RDSS/GPS system.The numerical results show the near_optimality and good fault_tolerance and failure_detection performance of the NR mode.
出处
《武汉大学学报（信息科学版）》
EI
CSCD
北大核心
2001年第5期441-445,458,共6页
Geomatics and Information Science of Wuhan University
基金
总参测绘局资助项目
