基于改进型灰色预测模型的SINS/GPS组合导航系统  

SINS/GPS integrated navigation system based on improved grey forecasting model

作　　者：王立冬[1] 车琳[2] 鲁军[1] 高庆[1] 

机构地区：[1]军械工程学院,石家庄050003 [2]中国华阴兵器试验中心,华阴714200

出　　处：《中国惯性技术学报》2015年第2期248-251,257,共5页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(60671045)

摘　　要：针对SINS/GPS组合导航系统中的GPS故障,结合GPS导航定位信息的特点,提出了基于改进型灰色预测的GPS故障预测模型,实现了GPS故障预测;结合SINS/GPS组合导航系统数学模型,进行了基于改进型灰色预测的SINS/GPS组合导航系统仿真。仿真结果表明,GPS位置数据预测残差小于1.5 m;在GPS短暂故障期间,由预测数据取代GPS故障数据,可以有效提高SINS/GPS组合导航系统的抗干扰能力,保证其导航精度;比较GPS故障数据和预测数据,并根据故障数据的持续时间和变化特点等,可以诊断GPS故障是硬件故障还是外部干扰的影响,有助于实现GPS的故障判别与隔离。To forecast the GPS failure in SINS/GPS integrated navigation system, a forecast model based on improved grey prediction is presented based on the characteristics of GPS navigating and positioning information. Combining with the mathematical model of SINS/GPS integrated navigation system, the simulation based on the improved grey prediction model is carried out, and the results show that the predicted residual of GPS position data is less than 1.5 m, and during the transient failure of GPS, the anti-interference ability of SINS/GPS integrated navigation system can be improved by replacing the GPS failure data with the forecasted data. Based on the comparison of GPS failure data and prediction data, and according to the duration and changing characteristics of failure data, it is able to diagnose the GPS failure is whether a hardware failure or due to external factors, which helps to carry out the recognition and isolation of GPS failure.

关 键 词：控制与导航 灰色预测模型 故障预测 组合导航 

分 类 号：U666.1[交通运输工程—船舶及航道工程]