【摘要】 为实现不依赖GNSS系统的高精度导航系统,提出了一种基于非线性最小二乘估计的e Loran/INS/磁传感器组合导航方法。利用INS/磁传感器等传感器稳定性好,高频噪声低的特点,降低eLoran导航系统受传播路径影响导致的定位误差;同时所提方法可以校准其它传感器的零点偏移。首先利用INS系统估计载体当前的状态(包括姿态、位置),再通过高斯-牛顿法,求解载体状态的最小二乘解,从而使各物理量(磁场矢量、重力矢量和位置)在当前估计的载体坐标系内计算的数值与传感器的测量结果之间误差达到最小。最后,利用传感器的零点偏移在误差项中变化缓慢的特点,通过低通滤波估计零点偏移并进行校准。所提方法具有运算量小,解算精度高的特点。仿真试验结果显示所提出方法可将罗兰导航系统定位误差从100 m提高至6.1 m(2σ),证明了该系统具备独立于GNSS系统提供高精度导航定位的潜力。更多还原

【Abstract】 In order to realize a high-precision navigation system that does not rely on GNSS systems, an eLoran/INS/magnetic sensor integrated navigation method is proposed. Utilizing the characteristics of INS/magnetic sensors and other sensors with good stability and low high-frequency noise, the positioning error caused by the influence of the propagation path of the eLoran navigation system is reduced; at the same time, the proposed method can calibrate the zero-offsets of other sensors. First, the INS system is used to estimate the current state of the carrier(including attitude and position). Then the Gauss-Newton method is used to solve the least squares solution of the carrier state, so as to minimize the error between the calculated values of each physical quantity(magnetic field vector, gravity vector and position) in the currently estimated carrier coordinate system and the sensors measurement results. Finally, the zero offset of the sensor is estimated and calibrated by low-pass filtering, based on the slow change of which in the error term. The proposed method has the characteristics of small amount of calculation and high accuracy. The results show that the proposed method can increase the positioning error of the Roland navigation system from 100 m to 6.1 m(2σ), which proves that the system has the potential to provide high-precision navigation and positioning independently of the GNSS system.更多还原