基于强跟踪滤波器的MIMU/GPS组合导航系统  

MIMU/GPS Integrated Navigation System Based on Strong Tracking Filter

作　　者：张慧君[1,2] 廖炳瑜[1] 袁洪[1] 

机构地区：[1]中国科学院光电研究院,北京100190 [2]中国科学院研究生院,北京100049

出　　处：《计算机仿真》2011年第4期62-65,70,共5页Computer Simulation

基　　金：科技部863计划项目(2008AA12A216)

摘　　要：研究微型惯导系统优化导航,在实际工程应用中设计强跟踪滤波器的MIMU/GPS组合导航系统,为验证整个组合导航系统的正确性和可靠性,采用软件无线电平台,进行了系统硬件架构和算法设计,使得整个系统具有较强的灵活性和可扩展能力。系统组合方式采用伪距、伪距率紧密组合。滤波器部分引入对突变状态具有较强鲁棒性和跟踪能力的强跟踪滤波器,对系统进行了最优估计和反馈校正。进行车载仿真试验,结果表明,整个系统组合效果显著,跟踪精度满足了设计要求。MIMU/GPS integrated navigation system based on STF is designed and implemented on the background of practical engineering applications.The system hardware architecture and algorithm are designed based on the software radio platform.The whole system has strong flexibility and scalability.MIMU and GPS are coupled tightly used pseudo-range and pseudo-range rate information.The STF is used for the optimal estimation of the system,which has strong robustness.Feedback correction is adopted.In order to verify the effectiveness of the system,some experiments are carried out.The results show that the system is feasible,and meets the requirements.

关 键 词：紧密组合 强跟踪滤波器 微惯性测量单元 组合导航 捷联惯导系统 

分 类 号：V249.328[航空宇航科学与技术—飞行器设计]