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针对组合导航系统高精度、高容错性、高可靠性的实际应用要求,提出了基于MIMU/GPS/电子罗盘的组合导航方案,设计并实现了位置、速度、姿态分别组合的无重置式联邦滤波器,各子滤波器相互独立工作,无反馈重置带来的相互影响,保证了系统最高的容错性能和较高的精度.仿真试验结果表明,所设计的基于MIMU/GPS/电子罗盘的联邦滤波算法能够有效抑制纯惯导的误差发散问题,具有计算量小、容错性高、精度高等特点,有着广阔的应用前景.
Aimed at the practical application requirements of high precision, high fault tolerance and high reliability of integrated navigation system, a combined navigation scheme based on MIMU / GPS / electronic compass is proposed, and a reconfigurable federation of position, velocity and attitude is designed and implemented The filter and the sub-filters work independently and have no interaction with the feedback reset to ensure the highest fault-tolerant performance and high accuracy of the system.The simulation results show that the proposed design based on the MIMU / GPS / electronic compass The federated filtering algorithm can effectively suppress the error divergence of pure inertial navigation. It has the characteristics of small computation, high fault tolerance and high accuracy, and has broad application prospects.