基于鲁棒滤波的SINS/GPS松组合导航系统的校正方法  

A correction method of SINS/GPS loosely coupled integrated navigation system based on robust filtering

作　　者：尤杰 高红莲 曹松银[1] YOU Jie;GAO Honglian;CAO Songyin(School of Information Engineering,Yangzhou University,Yangzhou 225127,China)

机构地区：[1]扬州大学信息工程学院,江苏扬州225127

出　　处：《扬州大学学报（自然科学版）》2020年第6期73-78,共6页Journal of Yangzhou University：Natural Science Edition

基　　金：国家自然科学基金资助项目(61873346),扬州大学“青蓝工程”资助项目.

摘　　要：针对松组合下的捷联式惯性导航(strapdown inertial navigation system,SINS)/全球定位(global positioning system,GPS)组合系统,研究基于鲁棒卡尔曼滤波器的组合导航系统的校正方法.首先,以SINS的误差方程作为状态方程,以SINS和GPS的位置差和速度差作为观测量,构建组合导航系统的误差模型;然后,针对模型误差采用偏差分离估计方法,设计一种新型的鲁棒卡尔曼滤波器.基于偏差分离估计的鲁棒卡尔曼滤波器仿真结果表明,松组合导航系统优于传统的SINS导航系统,而与松组合系统间接滤波下的输出校正相比,反馈校正下的位置误差和速度误差的收敛速度加快、精度提高,可以有效提高系统的导航性能.For the SINS/GPS loosely coupled integrated navigation system,the correction method of the integrated navigation system based on the robust Kalman filter is studied.First,the error equation of SINS is used as the state equation,and the position error and speed error between SINS and GPS are used as measurement output of the integrated navigation system.Then,a new robust Kalman filter based on the deviation separation estimation method is designed.The simulation results of the robust Kalman filter based on the deviation separation estimation show that,the loosely coupled integrated navigation system is superior to the traditional SINS navigation system.Compared with the output correction under the indirect filtering of the loose integrated system,the convergence speed and accuracy of the position error and speed error under the feedback correction are accelerated and the accuracy is improved,which can effectively improve the navigation performance of the system.

关 键 词：组合导航 偏差分离 卡尔曼滤波器 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]