计算机系统应用
計算機繫統應用
계산궤계통응용
APPLICATIONS OF THE COMPUTER SYSTEMS
2010年
1期
55-57
,共3页
抗干扰%组合导航%卡尔曼滤波
抗榦擾%組閤導航%卡爾曼濾波
항간우%조합도항%잡이만려파
anti-interference%INS%GPS%integrated navigation%kalman filter
针对GPS卫星信号易受干扰,不稳定的问题,提出INS/GPS组合导航抗干扰的方法并用硬件电路进行实现验证.给出了惯性器件的误差模型,采用松散组合方式,设计卡尔曼滤波器,取姿态、速度、位置的误差作为状态变量.提出以INS与GPS输出的东北天向速度误差作为滤波器观测量的方案.通过计算机的仿真和实验验证,对系统的精度进行了分析,证明该方案是可行的,实现实时滤波计算,并能满足导航的精度要求.
針對GPS衛星信號易受榦擾,不穩定的問題,提齣INS/GPS組閤導航抗榦擾的方法併用硬件電路進行實現驗證.給齣瞭慣性器件的誤差模型,採用鬆散組閤方式,設計卡爾曼濾波器,取姿態、速度、位置的誤差作為狀態變量.提齣以INS與GPS輸齣的東北天嚮速度誤差作為濾波器觀測量的方案.通過計算機的倣真和實驗驗證,對繫統的精度進行瞭分析,證明該方案是可行的,實現實時濾波計算,併能滿足導航的精度要求.
침대GPS위성신호역수간우,불은정적문제,제출INS/GPS조합도항항간우적방법병용경건전로진행실현험증.급출료관성기건적오차모형,채용송산조합방식,설계잡이만려파기,취자태、속도、위치적오차작위상태변량.제출이INS여GPS수출적동북천향속도오차작위려파기관측량적방안.통과계산궤적방진화실험험증,대계통적정도진행료분석,증명해방안시가행적,실현실시려파계산,병능만족도항적정도요구.
In order to resolve the problems of easily interfered and unstable GPS signal,this paper puts forward the INS/GPS integrated navigation method and uses hardware circuit to verify the method.With given INS error model,it designs Kalman filter based on INS/GPS integrated navigation system,which takes posture,speed and position error as state variables.The paper takes east,north and vertical direction velocity error of INS and GPS outputs as the combination filter observation scheme.It uses simulation and experiments to analyze system precision and prove that this scheme is feasible.Then it Can also realize the real-time filtering calculation,and meet the demand of navigation accuracy.
