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本文研究了一种采用低精度的惯性器件,应用卡尔曼滤波技术的多普勒捷联惯性组合导航系统。讨论了组合方案,推导了系统的动态方程,设计了一种最优和四种次优卡尔曼滤波器。对系统进行了协方差分析。分析结果表明,采用随机漂移为0.1°/h的陀螺仪,零位误差为10~(-4)g的加速度计,应用卡尔曼滤波技术可以实现1nmile/h的导航精度,成为一种低成本、中等精度的导航系统。
This paper studies a Doppler strapdown inertial integrated navigation system using low-precision inertial devices and Kalman filtering. The combination scheme is discussed, the dynamic equations of the system are deduced, and an optimal and four kinds of sub-optimal Kalman filters are designed. The system was covariance analysis. The analysis results show that using a gyroscope with random drift of 0.1 ° / h and a zero-position error of 10 ~ (-4) g, Kalman filtering technology can achieve navigation accuracy of 1nmile / h and become a low cost Medium-precision navigation system.