INS/CNS/GPS组合导航数据融合算法与仿真研究  

On data-fusion algorithm and simulation of INS/CNS/GPS integrated navigation system

作　　者：张明源[1] 王宏力[1] 李康伟[1] 敖宏奎[1] 

机构地区：[1]第二炮兵工程学院303教研室,西安710025

出　　处：《电光与控制》2008年第4期42-44,49,共4页Electronics Optics & Control

基　　金：总装"十一五"装备预研项目

摘　　要：研究了INS/CNS/GPS组合导航系统的原理和特点,建立了组合导航系统的数学模型。分别利用集中卡尔曼滤波和联邦滤波数据融合原理对此系统进行了仿真研究,并指出了集中滤波器的不足之处。仿真结果表明采用全球定位系统和天文导航系统对惯导系统误差进行修正不仅可以大幅度提高导航精度,而且通过比较和分析可知联邦滤波可以有效地提高导航系统的可靠性和复原能力,是理想的容错型信息融合算法。The principle and characteristics of INS/CNS/GPS integrated navigation system are investigated, and the mathematic model of the integrated navigation system is established. Then data-fusion principles of centralized Kalman filtering and federated filtering are used respectively for simulation of the system. The defects of centralized Kalman filter when it is applied to navigation system are pointed out. The simulation results not only demonstrate that the inertial navigation system aided by Global Positioning System （GPS） and Celestial Navigation System（CNS） can substantially improve the navigation precision, but also demonstrate that the federated filter is an ideal algorithm of fault-tolerance information-fusion, which can improve the reliability of the navigation system.

关 键 词：组合导航系统 数据融合 卡尔曼滤波 INS/CNS/GPS 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]