摘要
为了更好地完善惯导系统误差补偿和抑制技术,对SINS/GPS组合导航系统进行可观测性分析,从而对系统误差进行补偿,提高导航精度。利用分段线性定常理论得到系统的提取可观测性矩阵,再计算该矩阵的条件数,根据条件数分析在不同量测及不同机动方式下系统的可观测性。针对SINS/GPS组合导航系统,建立高维数学模型,设置复杂运动轨迹,比较不同量测下误差源的可观测性。仿真结果表明:与机动方式的激励作用相比,增加量测能更有效地提高系统的可观测性。
In order to improve the error compensation and suppression technology of inertial navigation system,the observability analysis is carried out on the high precision SINS / GPS integrated navigation system,so as to compensate the system error and improve its navigation accuracy. The extraction observability matrix is obtained by the theory of piece-wise linear constant system,and the condition number of this matrix is calculated to analyzing the observability of the system errors under different measurements and maneuver mode. For the SINS / GPS integrated navigation system,high dimension model is established,complex trajectory is set,and different measurement equations are chosen to compare the observability. Simulation results show that adding velocity measurement can obviously improve the observability,and this effect is better than the excitation of maneuver mode.
出处
《航空兵器》
2016年第4期25-29,共5页
Aero Weaponry
基金
航空科学基金项目(20130153002)
关键词
捷联惯性导航系统
全球定位导航系统
组合导航
分段线性定常理论
条件数
可观测性分析
strapdown inertial navigation system
global positioning system
integrated navigation
piece-wise linear constant system
conditioning number
observability analysis
