CAJ | 학술논문

组合导航是提高导航系统整体性能的有效途径，大部分情况下会使用卡尔曼滤波进行组合导航，针对卡尔曼滤波方法系统噪声和观测噪声的统计特性的不确定性，提出基于外测速度信息修正SINS姿态误差的H∞控制设计方法。该方法充分利用DGPS的位置速度信息，并与SINS信息进行融合，基于惯性导航误差修正原理的方法进行组合导航，通过以速度为观测量来修正水平姿态。跑车试验证明，该组合方法能很好进行组合导航效果，不仅能够修正位置和速度，还能够修正水平姿态。该方法简单有效，且能满足长时间高精度导航要求，可以为运动载体提供良好的导航信息。
조합도항시제고도항계통정체성능적유효도경，대부분정황하회사용잡이만려파진행조합도항，침대잡이만려파방법계통조성화관측조성적통계특성적불학정성，제출기우외측속도신식수정SINS자태오차적H∞공제설계방법。해방법충분이용DGPS적위치속도신식，병여SINS신식진행융합，기우관성도항오차수정원리적방법진행조합도항，통과이속도위관측량래수정수평자태。포차시험증명，해조합방법능흔호진행조합도항효과，불부능구수정위치화속도，환능구수정수평자태。해방법간단유효，차능만족장시간고정도도항요구，가이위운동재체제공량호적도항신식。
Integrated navigation is an effective method to improve the performance of the system of navigation. Kalman filtering is widely used, but it is complex to adjust the parameters. A method based on the theory of error adjusting to integrate SINS and DGPS is presented. By making full use of the information of the position and the velocity of DGPS and the information of SINS,the level attitudes are revised by treating the velocity as the observed quantity to integrate DGPS and SINS by the theory of inertial navigation error adjusting. Experiment results show that the method is effective to integrated navigation, and it could not only adjust the position and the velocity, but also revise the level attitude. This method is simple and effective, and can meet the requirements of long time and high precision. It can provide good navigation information for moving carrier.