CAJ | 학술논문

为了降低模型因素引起的导航误差，实现小尺度区域下载体的高精度导航，将矩谐模型代替原有的偶极子地球主磁场模型，作为惯性/地磁组合导航系统的观测方程。同时，考虑到实际环境中复杂的磁场干扰及其未知的统计特性，避免线性化观测方程时计算雅克比矩阵，采用UKF滤波算法设计一种非线性时变噪声估计器，降低磁场干扰带来的影响，提高导航估计的精度。仿真结果显示，该算法提高了组合导航的精度，可以应用在噪声较大的环境中。
위료강저모형인소인기적도항오차，실현소척도구역하재체적고정도도항，장구해모형대체원유적우겁자지구주자장모형，작위관성/지자조합도항계통적관측방정。동시，고필도실제배경중복잡적자장간우급기미지적통계특성，피면선성화관측방정시계산아극비구진，채용UKF려파산법설계일충비선성시변조성고계기，강저자장간우대래적영향，제고도항고계적정도。방진결과현시，해산법제고료조합도항적정도，가이응용재조성교대적배경중。
In order to reduce the navigational error caused by the model factors and achieve high-precision navigation in small-scale areas, the original Earth's main magnetic field model created by the dipole is replaced by rectangular harmonic model as the INS/GNS integrated navigation system observation equation. At the same time, taking into account the complex magnetic interference in the actual environment and its unknown statistical properties, to avoid calculating the Jacobian matrix in linearizing the observation equation, the UKF algorithm is adopted in the design of a nonlinear time-varying noise estimator to reduce magnetic interference and improve the accuracy of navigation. The simulation results show that the algorithm greatly improves the accuracy of the integrated navigation. It can be used in noisy environment.