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针对飞行器在进行高动态飞行中卫星导航系统易受干扰、GPS可能被屏蔽,从而导致导航系统失稳甚至发散的问题,采用无迹卡尔曼滤波(UKF)算法对基于捷联惯导系统(SINS)、地磁导航系统(GNS)和嵌入式大气数据系统(FADS)的组合无源导航系统性能进行了改进。建立了地磁数据模型和无源组合导航模型,并针对新的组合导航系统观测方程非线性程度较高问题,提出了利用非线性UKF对导航数据进行融合的方法。利用高动态飞行轨迹对所提出的组合导航系统进行了仿真及误差分析,结果表明该系统对SINS误差估计具有适中的精度。
Aiming at the problem that the satellite navigation system is susceptible to interference during the high dynamic flight, the GPS may be shielded, resulting in instability or even divergence of the navigation system. Unscented Kalman filter (UKF) ), Geomagnetic Navigation System (GNS) and Embedded Atmosphere Data System (FADS). A geomagnetic data model and a passive integrated navigation model are established. Aiming at the high non-linearity of the observing equation of the new integrated navigation system, a method of using the nonlinear UKF to fuse the navigation data is proposed. The proposed integrated navigation system is simulated and analyzed with high dynamic flight path. The results show that this system has moderate accuracy for SINS error estimation.