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针对传统INS/CNS/GNSS组合导航3个异质传感器进行信息融合主滤波器易发散以及高超声速飞行器的特性,设计了由惯导与卫星导航深组合构成子滤波器1、惯导与间接敏感地平天文导航构成子滤波器2的SINS/CNS/GNSS组合导航新方法;详细推导了基于联邦滤波的位置、速度、姿态组合算法的观测矩阵的具体形式,最后对系统进行了仿真。仿真结果表明,该方法实现了精度和可靠性的有效一致,位置、速度和姿态精度较高,而且滤波器比较稳定。
Aiming at the characteristics of traditional fusion of INS / CNS / GNSS integrated navigation and three hybrid sensors, the main filter is easy to disperse and the characteristics of hypersonic vehicle are designed. The combination of inertial navigation and satellite navigation is composed of sub-filter 1, inertial navigation and indirect sensing A new method of SINS / CNS / GNSS integrated navigation consisting of sub-wave filter 2 is constructed by horizon-based astronomical navigation. The specific forms of observation matrices based on the combination of position, velocity and attitude of federated filtering are derived in detail. Finally, the system is simulated. The simulation results show that the proposed method achieves the same accuracy and reliability, the high accuracy of position, velocity and attitude, and the relatively stable filter.