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针对地面载体长时间复杂应用环境对导航系统精确性和可靠性的要求,提出一种基于联邦滤波器的惯导/北斗/里程计紧组合导航算法。在分析惯导、北斗、里程计导航系统特点的基础上,建立了组合导航系统的误差状态模型和量测模型,采用联邦滤波器实现了三者的紧组合容错系统设计,分别对子系统无故障、北斗及里程计出现故障情况下进行仿真验证。结果表明,将联邦滤波理论应用于惯导/北斗/里程计紧组合导航系统可以提高导航性能和系统的容错能力。
Aiming at the requirements of accuracy and reliability of navigation system for long time complicated application of ground vehicle, a new integrated navigation algorithm based on federated filter is proposed. Based on the analysis of the characteristics of INS, BeiDou and Mileage navigation system, the error state model and the measurement model of the integrated navigation system are established. The design of tight combination fault tolerant system of the three is realized by using the federal filter. Failure, Beidou and odometer failure case simulation. The results show that the application of Federal Filter Theory to INS / BD Computation / Tight Meter Integrated Navigation System can improve navigation performance and system fault tolerance.