摘要
首先基于陆地导航讨论了GPS/INS全组合系统,分别在载体动态和静态两种情况下对比分析了全组合和紧组合的姿态矫正效果。实验结果表明全组合模式的航向角精度较紧组合有明显提升,且当载体由动态转为静态时,全组合模式能够克服紧组合航向角缓慢发散的现象。其次针对载体大角度转向时组合系统动力学模型异常增大的问题,提出了一种对航向角进行自适应修正的全组合滤波算法,仿真实验结果表明:该方法能够一定程度上削弱载体大角度转向时动力学模型异常的影响,航向精度有一定提高。
Firstly, the GPS/INS completely integrated system is discussed based on land navigation. The attitude correction effects of the completely-integrated and tightly-integrated are respectively analyzed under the kinematic state and static state. The test result is concluded that the yaw precision of the completely-integrated is obviously better than that of the tightly-integrated. And the situation of the yaw＇ s slow divergence, appearing in the tightly-integrated when the carrier transforms from the kinematic state to static state, can be overcome by the completely-integrated. Secondly, in view of the situation that the anomaly of the kinetic model increases when the carrier is under large-angle turning, a completely- integrated filtering algorithm which only adaptively modifies the yaw is introduced. The simulated test result shows that the influence of the dynamic model abnormity enlarged during large-angle turning can be partly weakened and the yaw precision is partly improved.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2017年第11期1212-1218,共7页
Journal of Astronautics
基金
国家自然科学基金(41674016
41274016)
关键词
GPS/INS组合
全组合系统
航向角
自适应滤波
分类因子
GPS/INS integrated
completely integrated system
yaw
adaptive filtering
classified adaptive factor
