基于Sage-Husa自适应滤波的车载三维航位推算算法  

Design of Three-dimensional DR System for Land Vehicle Based on Sage-Husa Adaptive Filter

作　　者：刘涛[1] 孟凡磊[1] 姚跃亭[1] 崔伟成[1] 

机构地区：[1]海军航空工程学院,山东烟台264001

出　　处：《弹箭与制导学报》2013年第6期160-162,166,共4页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：教育部新世纪优秀人才支持计划(NCET-04-1001);学院青年科研基金(HYQN2012-05)资助

摘　　要：针对军用车辆卫星定位信号易受遮挡的问题,基于差速里程仪推导了三维条件下的无陀螺航位推算算法,建立了系统状态方程和观测方程,并利用残差预报方法改进Sage-Husa自适应滤波,提高系统定位精度,仿真结果表明,系统精度满足短时定位要求,能够作为复杂地形条件下军用车载卫星定位系统的有效补充,且取消了惯导元件,提高了系统可靠性。To solve the vehicle positioning problem caused by signal missing of satellite system, three-dimensional dead reckoning （DR） al- gorithm using differential odometer was given out based on gyroscope-free idea. After station equation and observation equation, improved Sage-Husa adaptive filter was adopted to raise the position precision by residual prediction. The simulation result shows that the system pre- cision can meet the demand of positioning in short time and to be the auxiliary system of satellite position system in complex land form. The three-dimensional DR algorithm improves the system reliability for missing use of inertial navigation element.

关 键 词：陆地导航 航位推算 三维条件 自适应滤波 

分 类 号：TJ810.35[兵器科学与技术—武器系统与运用工程]