【摘要】 研究了一种新的飞行器导航系统,它使用图像传感器来辅助机载INS(惯性导航系统)与GPS(全球定位系统)组合系统,从而构成INS/GPS/图像辅助的综合导航系统。提出了适用于图像辅助组合导航的新的信息融合结构与滤波算法:基于残差校正的级联式卡尔曼滤波组合导航信息融合方案;推导并建立了上述级联式滤波的系统状态方程与图像量测方程。进行了仿真计算,并与联合卡尔曼滤波方法的结果进行了比较。仿真结果表明此种新的滤波方法在精度上是可行的。更多还原

【Abstract】 A new kind of navigation system for flight vehicle is researched, which utilizes imaging sensor to aid onboard INS and GPS. so that an INS/GPS/Imagery- aided integrated navigation system is constructed. A new data fusion structure and filtering arithmetic that fit in with imagery-aided integrated navigation system is raised, which is called error alignment based tandem Kalman filter. The state error equation and imagery measurement equation is constructed by deduction. Computer simulation is done,with the results compared with the federal Kalman filter’s, which indicate that this new kind of filtering method works well in accuracy.更多还原