SINS/GPS松组合与紧组合两种组合方式的对比研究  

A Comparative Study on the Tight Coupling and the Loosely Coupling of SINS/GPS Integrated Navigation System

作　　者：朱静[1,2] 

机构地区：[1]东南大学仪器科学与工程学院,南京210096 [2]东南大学微惯性仪表与先进导航技术教育部重点实验室,南京210096

出　　处：《舰船电子工程》2013年第6期59-61,共3页Ship Electronic Engineering

基　　金：国家自然科学基金项目(编号:51175082);总装备部预研项目(编号:51309030105);总装备部预研项目(51309040301)资助

摘　　要：SINS/GPS组合导航是现代导航的发展趋势,针对采用GPS输出量的不同,对两种组合方式进行详细的研究。论文建立了松组合与紧组合的数学模型,采用遗忘因子估计的卡尔曼滤波算法提高系统的可观测度和鲁棒性,对于紧组合方式通过增加运动约束的方法提高其可观测度,经过滤波调谐,在仿真模式下进行实验。并得到松组合下系统水平姿态精度优于0.09°,方位姿态精度优于0.23°,水平位置误差小于4m,紧组合下系统水平姿态精度优于0.03°,方位姿态精度优于0.09x(n),水平位置误差小于2m的实验结果。通过SINS/GPS组合导航仿真实验结果验证,表明了SINS/GPS紧组合方式的精度确实要高于松组合方式。SINS/GPS integrated navigation system is a trend for modern navigation technologies. The algorithm of tight coupling of the integrated navigation system is presented and derived completely. SINS/GPS integrated navigation system is analyzed by errors of misalignments and positions in simulation. Adaptive Kalman filter with a forgetting factor is adopt and there is a fact that, the motion constraints enhance the observation of the integrated navigation. Loosely coupling of the integrated system has reached that the level misalignment angle is better than 0. 09, azimuth misalignment angle is better than 0. 23, horizontal position error is better than 4 m. Tight coupling of the integrated system has reached that the level misalignment angle is better than 0.03, azimuth misalignment angle is better than 0. 09, horizontal position error is better than 2 m It turns out that,compared with loosely coupling of the integrated navigation system, tight coupling of the integrated navigation system has an advantage on accuracy and adaption.

关 键 词：紧组合 松组合 自适应卡尔曼滤波 可观测度 运动约束 

分 类 号：U666.1[交通运输工程—船舶及航道工程]