| 军用无人地面车辆无源北斗／SINS组合导航系统研究 |
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| 引用本文： | 冯鹏程. 军用无人地面车辆无源北斗／SINS组合导航系统研究[J]. 武警工程学院学报, 2011, 0(4): 22-25 |
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| 作者姓名： | 冯鹏程 |
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| 作者单位： | 武警工程学院装备运输系,陕西西安710086 |
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| 摘 要： | 提出将无源北斗／SINS组合导航系统应用于军用无人地面车辆，采用“紧耦合”方式设计了组合结构，选择伪距为量测量，对量测高程进行了“虚伪距”化处理，建立了三维量测方程，通过间接法进行了扩展卡尔曼滤波设计并进行了仿真。结果表明，位置和速度误差得到了有效抑制，在仿真设定的常规环境噪声条件下，达到了军用无人地面车辆导航的要求。
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| 关 键 词： | 捷联式惯性导航系统 无源北斗 组合导航 无人地面车辆 |
Study on Millitary Unmanned Ground Vehicle Integrated Navigation System of Passive Beidou/SINS |
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| FENG Peng-cheng. Study on Millitary Unmanned Ground Vehicle Integrated Navigation System of Passive Beidou/SINS[J]. Journal of Engineering College of Armed Police Force, 2011, 0(4): 22-25 |
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| Authors: | FENG Peng-cheng |
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| Affiliation: | FENG Peng-cheng (Department of Equipment and Transportation, Engineering Collgeg of CAPF, Xi＇an 710086, China) |
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| Abstract: | The idea that an Beidou/SINS integrated navigation system can be used for millitary Unmanned Ground Vehicle（UGV） is proposed. The int ange is chosen as measurement value and 3d egrated structure is designed by tight coupling methol. Pseudormeasurement equation is established. Indirect exended Kalman filtering is applied to the system. Simulation results show that this technique can remarkably attenuate the accumulations of position and velocity errors. Under the conditions of the general ambient noise, the accuracy satisfies the requirements of the millitary UGV. |
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| Keywords: | strapdown inertial navigation system passive Beidou integrated navigation Unmanned Ground Vehicle |
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