| SINS/DR组合导航系统可观测性研究 |
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| 引用本文： | 严涛,王跃钢,杨波,贾磊.SINS/DR组合导航系统可观测性研究[J].现代防御技术,2012,40(3):83-87. |
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| 作者姓名： | 严涛 王跃钢 杨波 贾磊 |
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| 作者单位： | 第二炮兵工程大学,陕西西安,710025 |
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| 摘 要： | 对SINS/DR组合导航系统的误差方程进行了介绍。将陀螺漂移、加速度计零偏和里程仪刻度系数误差扩展为卡尔曼滤波器的状态,建立了19维状态的组合导航滤波模型。采用分段线性定常系统(PWCS)分析了载车在各个不同运动特性下SINS/DR组合导航系统的可观测矩阵;利用奇异值分解(SVD)分析法定量地分析了SINS/DR导航系统的可观测度。通过系统仿真预测了位置误差、姿态误差和速度误差的滤波效果,仿真结果表明,位置误差、姿态误差和速度误差的估计效果较好。
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| 关 键 词： | SINS/DR 组合导航 分段线性定常系统 可观测度 误差估计 |
Observability of SINS/DR Integrated Navigation System |
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| YAN Tao
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WANG Yue-gang
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YANG Bo
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JIA Lei.Observability of SINS/DR Integrated Navigation System[J].Modern Defence Technology,2012,40(3):83-87. |
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| Authors: | YAN Tao WANG Yue-gang YANG Bo JIA Lei |
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| Institution: | (The Second Artillery Engineering University,Shaanxi Xi’an 710025,China) |
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| Abstract: | The error equations of strapdown inertial navigation system/dead reckoning(SINS/DR) integrated navigation system are introduced,and the 19-dimension integrated navigation model is established by adding gyroscope bias and accelerometer bias and odometer scale factor to the filter states.The observability matrix of integrated navigation system is analyzed by the piece-wise constant system(PWCS) observability analysis approach in different moving status,and the observabilities of integrated navigation system is analyzed according to the singular values of the observable matrices.The location error and attitude error and speed error of integrated navigation integrated navigation are predicted.The results of simulation indicate that the location error and attitude error and speed error could be converged effectively. |
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| Keywords: | strapdown inertial navigation system/dead reckoning(SINS/DR) integrated navigation piece-wise constant system(PWCS) observability error estimates |
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