本文選題：組合導(dǎo)航 + Bierman-Thorton算法��； 參考：《傳感技術(shù)學(xué)報(bào)》2014年05期

【摘要】：組合導(dǎo)航系統(tǒng)作為重要的定位和姿態(tài)測(cè)量的技術(shù)手段,其基本設(shè)計(jì)思想是將GPS和SINS等導(dǎo)航設(shè)備輸出的信息經(jīng)過濾波器進(jìn)行最優(yōu)估計(jì)。但在采用Riccati方程更新協(xié)方差矩陣和計(jì)算Kalman增益過程中,截?cái)嗾`差隨著迭代次數(shù)的增大而累積,破壞協(xié)方差矩陣的正定性和對(duì)稱性,降低濾波器計(jì)算的數(shù)值穩(wěn)定性,嚴(yán)重時(shí)導(dǎo)致組合系統(tǒng)故障發(fā)散。本文建立了Riccati方程一階誤差模型,從理論上分析截?cái)嗾`差對(duì)濾波器估計(jì)性能的影響,引入基于Bierman算法和Thorton算法的Kalman濾波器進(jìn)行更新方法,解決了截?cái)嗾`差引起的濾波器數(shù)值穩(wěn)定性的問題。通過強(qiáng)實(shí)時(shí)半物理仿真系統(tǒng)驗(yàn)證表明,相比于基于Kalman濾波器的系統(tǒng),基于Bierman-Thorton算法的組合導(dǎo)航系統(tǒng)有更強(qiáng)的數(shù)值穩(wěn)定性和較高的導(dǎo)航精度。
[Abstract]:As an important technique of positioning and attitude measurement, integrated navigation system is designed to estimate the information of GPS and sins through filter. However, in the process of updating the covariance matrix with Riccati equation and calculating the Kalman gain, the truncation error accumulates with the increase of iteration times, which destroys the positive definiteness and symmetry of the covariance matrix and reduces the numerical stability of the filter calculation. When serious, the failure of the combined system diverges. In this paper, the first-order error model of Riccati equation is established. The influence of truncation error on the estimation performance of the filter is analyzed theoretically. The Kalman filter updating method based on Bierman algorithm and Thorton algorithm is introduced. The problem of filter numerical stability caused by truncation error is solved. The verification of strong real-time semi-physical simulation system shows that the integrated navigation system based on Bierman-Thorton algorithm has better numerical stability and higher navigation accuracy than that based on Kalman filter.
【作者單位】： 中國科學(xué)院長(zhǎng)春光學(xué)精密機(jī)械與物理研究所;
【分類號(hào)】：TN96.2

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本文編號(hào)：2020170