CAJ | 학술논문

为了达到用较低精度的惯性仪器达到导航目的,文中基于准三维模型对惯导系统误差校正的思想,将摄像机成像系统和捷联惯导系统(SINS)相结合,使用准三维数学模型,用离散卡尔曼滤波对导航误差进行估计,并利用得出的结果对惯导系统的输出进行修正,通过仿真,结果表明本方法一定程度上提高了导航精度,理论上,该方法能够达到导航要求,并能降低导航成本.
위료체도용교저정도적관성의기체도도항목적,문중기우준삼유모형대관도계통오차교정적사상,장섭상궤성상계통화첩련관도계통(SINS)상결합,사용준삼유수학모형,용리산잡이만려파대도항오차진행고계,병이용득출적결과대관도계통적수출진행수정,통과방진,결과표명본방법일정정도상제고료도항정도,이론상,해방법능구체도도항요구,병능강저도항성본.
In order to navigate with low accurate inertia apparatus, based on the thought of correcting INS error with approximate three-dimension model, the combination of camera imaging system with SINS was conducted, the measurement matrix was deduced, then, the INS error was estimated by discrete Kalman filter, and the INS output was calibrated with the error. The simulation result shows that the scheme can improve navigation accuracy to a certain degree and reduce navigation cost.