摘要
针对军用车辆卫星定位信号缺失的问题,推导了三维条件下的无陀螺航位推算算法,在分别对航位推算和捷联惯导算法系统误差分析的基础上,应用kalman滤波器设计了一种新的SINS/DR组合算法,仿真结果显示,采用组合算法,系统三维定位精度分别提高37.8%、49.7%和35.1%。
To solve the vehicle positioning problem caused by signal missing of satellite system, three-dimensional dead reckoning （DR） algorithm is figured out based on gyroscope-free idea. Based on the analysis of system error of dead reckoning and strap-down inertial navigation system （SINS） , a new combined positioning algorithm of SINS and DR is given by using Kalman Filter. The simulation result shows that the new combined algorithm can improve the location precision by about 37.8% , 49.7% and 35. 1%.
出处
《现代防御技术》
北大核心
2015年第4期80-85,共6页
Modern Defence Technology
基金
教育部新世纪优秀人才支持计划(NCET-04-1001)
学院青年科研基金资助项目(HYQN2012-05)
关键词
组合定位
航位推算
三维条件
卡尔曼滤波
combined algorithm of location
dead reckoning
three-dimensional
Kahnan filter
