惯导系统/全球定位系统/多普勒计程仪的船舶组合导航联邦滤波算法研究  

Research of Ship Integrated Navigation Federal Filter Based on SINS/GPS/BD2/DVL

作　　者：王鹏[1] 杨奕飞[1] 

机构地区：[1]江苏科技大学电子信息学院,镇江212003

出　　处：《科学技术与工程》2014年第9期257-260,共4页Science Technology and Engineering

基　　金：江苏省产学研联合创新资金-前瞻性联合研究项目(BY2013066-01)资助

摘　　要：针对于船舶在长期高速度航行的过程中,捷联惯性导航SINS存在着误差积累,GPS和北斗导航容易受环境干扰,从而不能满足长期高精度导航定位需要,提出了SINS/GPS/BD2/DVL组合导航联邦滤波算法。建立了SINS、GPS、BD2、DVL的误差模型,研究了滤波器的组合形式,并详细阐述了联邦滤波器的算法。仿真结果验证了该组合导航方案的可行性和算法的有效性,具有重要的工程应用价值。The warship navigation system applied in our project need to be of high precision,SINS exists error accumulation and GPS or BeidouII navigation vulnerable to environmental interference, which can not meet the long-precision navigation and positioning needs, SINS/GPS/BD2/DVL portfolio navigation federal filtering algo- rithm is proposed. First SINS, GPS, BD2, DVL error model is established to study the filter combinations, and elaborat on the federal filter algorithm. Simulation results demonstrate the feasibility of the integrated navigation and the algorithm has important value in engineering applications.

关 键 词：多传感器 组合导航 信息融合 联邦滤波 

分 类 号：U666.4[交通运输工程—船舶及航道工程]