计算机工程与设计
計算機工程與設計
계산궤공정여설계
COMPUTER ENGINEERING AND DESIGN
2014年
12期
4375-4379
,共5页
四元数%捷联惯导系统%全球定位系统%组合导航%卡尔曼滤波
四元數%捷聯慣導繫統%全毬定位繫統%組閤導航%卡爾曼濾波
사원수%첩련관도계통%전구정위계통%조합도항%잡이만려파
quaternion%SINS%GPS%integrated navigation%Kalman filter
对于低成本SINS／GPS组合导航系统，由于惯性器件的精度较低，通常情况下的SINS误差模型估计不准确，甚至使滤波器发散，为此提出根据姿态四元数的SINS误差估计模型，该模型不需要对初始姿态进行赋值。为在观测噪声未知的情况下估计SINS误差，通过结合序贯处理与Kalman滤波算法，提出一种自适应扩展卡尔曼滤波方法，该方法可以同时进行序贯处理和观测噪声估计。仿真实验结果表明，该方法可以消除过程噪声方差和观测噪声方差不确定造成的影响，提高了SINS／GPS导航系统的性能。
對于低成本SINS／GPS組閤導航繫統，由于慣性器件的精度較低，通常情況下的SINS誤差模型估計不準確，甚至使濾波器髮散，為此提齣根據姿態四元數的SINS誤差估計模型，該模型不需要對初始姿態進行賦值。為在觀測譟聲未知的情況下估計SINS誤差，通過結閤序貫處理與Kalman濾波算法，提齣一種自適應擴展卡爾曼濾波方法，該方法可以同時進行序貫處理和觀測譟聲估計。倣真實驗結果錶明，該方法可以消除過程譟聲方差和觀測譟聲方差不確定造成的影響，提高瞭SINS／GPS導航繫統的性能。
대우저성본SINS／GPS조합도항계통，유우관성기건적정도교저，통상정황하적SINS오차모형고계불준학，심지사려파기발산，위차제출근거자태사원수적SINS오차고계모형，해모형불수요대초시자태진행부치。위재관측조성미지적정황하고계SINS오차，통과결합서관처리여Kalman려파산법，제출일충자괄응확전잡이만려파방법，해방법가이동시진행서관처리화관측조성고계。방진실험결과표명，해방법가이소제과정조성방차화관측조성방차불학정조성적영향，제고료SINS／GPS도항계통적성능。
For low‐cost SINS/GPS integrated navigation system ,due to the lower accuracy of inertial devices ,in normal circum‐stances ,SINS error model estimation is not accurate ,the filter divergence problem even emerges .According to attitude quater‐nion ,the SINS error estimation model was proposed which did not require the assignment of initial attitude .To estimate the SINS error in the measurement noise unknown circumstances ,the sequential processing and Kalman filter algorithm were com‐bined into a new method to improve the adaptive ability ,the method can carry out sequential processing and estimate simulta‐neous measurement noise at the same time .The simulation results show that the method can adaptively eliminate the effects brought about by interference noise variance process and observation noise variance uncertainty ,the robustness of SINS/GPS navigation system is improved .
