| 基于联邦滤波的惯性导航姿态组合算法 |
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| 引用本文： | 赖际舟,刘建业,刘瑞华,华冰.基于联邦滤波的惯性导航姿态组合算法[J].天津大学学报(自然科学与工程技术版),2006,39(3):349-353. |
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| 作者姓名： | 赖际舟 刘建业 刘瑞华 华冰 |
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| 作者单位： | [1]南京航空航天大学导航研究中心,南京210016 [2]中国民用航空学院天津市智能信号与图像处理重点实验室,天津300300 |
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| 摘 要： | 为了充分利用姿态量测信息来提高组合导航系统的姿态精度，以联邦滤波为基础，研究了以姿态、位置和速度信息作为观测量的多信息融合导航技术，分析并提出了适合工程使用的联邦滤波器的原理结构与算法实现，深入推导了基于联邦滤波的姿态组合算法的观测矩阵的具体形式，最后给出了仿真和实测数据的验证．结果表明，基于联邦滤波的姿态组合滤波算法能够有效地提高惯导系统的姿态精度，对方位角的改善尤为明显．
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| 关 键 词： | 组合导航 卡尔曼滤波器 姿态组合 联邦滤波 |
| 文章编号： | 0493-2137（2006）03-0349-05 |
| 收稿时间： | 2004-12-30 |
| 修稿时间： | 2004-12-302005-09-20 |
Inertial Navigation Attitude-Integrated Method Based on Federated Filters |
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| LAI Ji-zhou,LIU Jian-ye,LIU Rui-hua,HUA Bing.Inertial Navigation Attitude-Integrated Method Based on Federated Filters[J].Journal of Tianjin University(Science and Technology),2006,39(3):349-353. |
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| Authors: | LAI Ji-zhou LIU Jian-ye LIU Rui-hua HUA Bing |
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| Institution: | 1. Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; 2. Tianjin Key Laboratory for Advanced Signal Processing, Civil Aviation University of China, Tianjin 300300, China |
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| Abstract: | To improve the attitude precision of integrated navigation system (INS) effectively based on the attitude measuring information, the multi-information fusion navigation technology in federated filters, which takes the carrier's attitude, position, and velocity as the measuring variables,is investigated. The structure of the federated filters is studied, and the attitude integrated method is proposed and the measuring matrix is deduced. By comparing the simulation with the actual application, it is proved that the attitude integrated method based on federated filters can improve the attitude precision of INS effectively, especially in heading angle. |
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| Keywords: | integrated navigation Kalman filter attitude integration federated filters |
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