摘要
针对捷联惯性导航系统(strapdown inertial navigation system,SINS)误差定义存在的坐标系不一致的问题,将速度误差统一投影在真实导航坐标系中,基于状态变换Kalman滤波推导了更严密的SINS姿态、速度和位置误差方程。进一步地,在新定义的速度误差和SINS误差方程的基础上,构建了改进的多普勒计程仪(Doppler velocity logger,DVL)/SINS组合导航卡尔曼滤波状态模型和量测模型。仿真和船载实验表明,与常规DVL/SINS卡尔曼滤波模型相比,所提算法可以处理传统DVL/SINS误差模型中坐标系不一致问题的影响,可在一定程度上提高组合导航系统的性能。
The frame-inconsistent problem exists in conventional error equation of strapdown inertial navigation system(SINS).In this study,a more rigorous error equation of SINS attitude,velocity and position is derived by projecting the velocity error in the real navigation frame.Based on the newly defined velocity error,a modified Kalman filter model,including state model and measurement model,is constructed for Doppler velocity logger(DVL)/SINS integrated navigation.Compared with conventional Kalman model for DVL/SINS,simulations and field experiments indicate that the proposed algorithm is efficient in solving the frame-inconsistent problem in conventional DVL/SINS system,which can improve the navigation accuracy for the integrated navigation system.
作者
靳凯迪
柴洪洲
宿楚涵
向民志
李明
JIN Kaidi;CHAI Hongzhou;SU Chuhan;XIANG Minzhi;LI Ming(Institute of Geospatial Information,Strategic Support Force Information Engineering University,Zhengzhou 450001,China;PIESAT Institute of Applied Beidou Navigation Technologies at Zhengzhou,Zhengzhou 450001,China)
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2023年第11期3624-3631,共8页
Systems Engineering and Electronics
基金
国家自然科学基金(42074014)资助课题。
关键词
捷联惯性导航系统
多普勒计程仪
组合导航
误差方程
卡尔曼滤波
strapdown inertial navigation system(SINS)
Doppler velocity logger(DVL)
integral navigation
error equation
Kalman filter
