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根据离散小波变换可降噪的特点,对捷联惯性导航系统(SINS)中惯性测量元件(IMU)的输出精度进行了研究,再与卫星定位系统(GPS)的输出进行卡尔曼滤波组合,进而达到降噪的目的,最后分别由静态时的实际量测数据以及动态时的理论仿真试验给予结果验证。试验结果表明,采用小波降噪预处理后的组合导航系统各项导航参数的精度都有了明显提高,从而提高了组合导航系统的可靠性。
According to the characteristics of discrete wavelet transform which can reduce noise, the output accuracy of inertial measuring element (IMU) in strapdown inertial navigation system (SINS) is studied, and then Kalman filtering is combined with the output of satellite positioning system (GPS) The purpose of noise reduction is achieved. Finally, the results are verified by the actual measurement data at the time of static state and the theoretical simulation experiment at the dynamic state respectively. The experimental results show that the accuracy of the navigation parameters of the integrated navigation system after wavelet preprocessing has been significantly improved, and the reliability of the integrated navigation system has been improved.