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本文所述的系统称为SITAN(Sandia地形辅助惯导)系统。应用卡尔曼滤波技术从起始点到目标对惯导系统进行连续修正。所谓连续修正是用广义的卡尔曼滤波器来实现的。它利用预测的离地高度(存储的地形数据)与雷达高度表实测高度之差作为它的测量值。用自适应线性化方法把地形测量的非线性影响减至最小。本文给出了理论系统的位置和速度的精度曲线和在特殊情况下应用的飞行试验结果。
The system described in this article is called the SITAN (Sandia Topography Assisted Inertial Navigation) system. Applying Kalman filter technology to continuous correction of inertial navigation system from the starting point to the target. The so-called continuous correction is achieved using a generalized Kalman filter. It uses the difference between the predicted ground clearance (stored terrain data) and the actual height measured by the radar altimetry as its measurement. The adaptive linearization method minimizes the non-linear effects of topographic measurements. This paper gives the accuracy curve of the position and velocity of the theoretical system and the flight test results applied under special circumstances.