CAJ | 학술논문

卡尔曼滤波是组合导航系统处理数据最常用的算法.首先给出PWCS可观测性定理,然后在G矩阵选星算法的基础上,设计了基于伪距/伪距率的MSINS/GPS紧耦合系统(TCS)的卡尔曼滤波器,在上述量测方程中加入基于GPS载波相位观测量的姿态测量方程,给出了有姿态测量信息的全组合系统(CIS).最后证明了CIS满足PWCS定理条件,即可以用离散系统的选择可观测性矩阵(SOM)代替相应的连续系统的总可观测性矩阵(TOM)对系统进行可观测性和可观测度的分析.利用奇异值分解(SVD)理论给出了不同可见卫星数时CIS的可观测性分析结果.与不加入姿态观测信息的MSINS/GPS的TCS比较,计算结果表明CIS比TCS具有更好的可观测性和可观测度.
잡이만려파시조합도항계통처리수거최상용적산법.수선급출PWCS가관측성정리,연후재G구진선성산법적기출상,설계료기우위거/위거솔적MSINS/GPS긴우합계통(TCS)적잡이만려파기,재상술량측방정중가입기우GPS재파상위관측량적자태측량방정,급출료유자태측량신식적전조합계통(CIS).최후증명료CIS만족PWCS정리조건,즉가이용리산계통적선택가관측성구진(SOM)대체상응적련속계통적총가관측성구진(TOM)대계통진행가관측성화가관측도적분석.이용기이치분해(SVD)이론급출료불동가견위성수시CIS적가관측성분석결과.여불가입자태관측신식적MSINS/GPS적TCS비교,계산결과표명CIS비TCS구유경호적가관측성화가관측도.
Kalman filter is the most versatile procedure for the data processing of integrated navigation system. In this paper, the theorems of piece-wise constant system(PWCS) were presented. Then, based on the constellation-selecting algorithm of 0 matrix, the Kalman filter was designed for the miniature strapdown inertial navigation system (MSINS)/GPS tightly-coupled system(TCS) based on pseudorange and pseudorange rate. Furthermore, the complete integrated system(CIS) with attitude information was presented which combined the measurement equation of the observed quantity of GPS carrier phase. The CIS mentioned above was proved to satisfy the condition of PWCS theorem, the observability and observable degree analysis of the system were analyzed by the striped observability matrix (SOM) of respective discrete system instead of the total observability matrix (TOM) of the corresponding continuous system. Using the theory of singular value decomposition (SVD), the result of the observability of the system was presented on the condition that the number of the visible satellites was variable. Compared with the result of the TCS, it is shown that the observability and the observable degree of the CIS are significantly improved.