光学与光电技术, 2013, 11 (5): 75, 网络出版: 2013-10-31
激光捷联惯导系统高程通道滤波模型设计
Design of Elevation Channel Filtering Model of Strapdown Inertial Navigation System
航位推算 组合导航 Kalman滤波 高程通道 气压高度计 dead reckoning integrated navigation kalman filter elevation channel barometric altimeter
摘要
针对传统航位推算算法中里程计俯仰安装误差角难以精确辨识,以及高程通道定位精度较差等问题,提出利用高度计作为辅助手段的激光捷联惯导/航位推算/高度计组合导航算法,并设计了高程通道的滤波模型。该算法基于Kalman滤波最优估计理论,利用气压高度计量测信息对SINS/DR组合系统高程通道进行估计补偿,以达到高程通道精确定位的目的。试验表明,经高度阻尼后系统高程定位精度达到3 m。
Abstract
The Pitch misalignment angle(PMA) of odometer is difficult to identify accurately, and the positioning of elevation channel is inaccurate. Contrary to those problems, this paper discusses the SINS/Deadreckoning (DR)/Barometric altimeter (BALT) integrated navigation algorithm, and designs the filtering model of the elevation channel. In order to locate accurately in elevation channel, this algorithm, which is based on Kalman filter, makes use of measurement information of BALT to damping the DR system’s elevation channel. The experiment results show that the positioning accuracy of elevation channel has improved to 3m after the damping with BALT.
周平璜, 郑志超. 激光捷联惯导系统高程通道滤波模型设计[J]. 光学与光电技术, 2013, 11(5): 75. ZHOU Pinghuang, ZHENG Zhichao. Design of Elevation Channel Filtering Model of Strapdown Inertial Navigation System[J]. OPTICS & OPTOELECTRONIC TECHNOLOGY, 2013, 11(5): 75.