【作者】 高法钦； 谈展中；

【Author】 Gao Faqin Tan Zhanzhong (School of Electronic Engineering,Beijing University of Aeronautics and Astronautics,Beijing,100083,China)

【机构】 北京航空航天大学电子信息工程学院；

【摘要】 本文针对北斗卫星定位系统和惯性导航系统设计组合导航卡尔曼滤波定位算法,引入前后滤波伪距之差作为观测量是本文的一个创新.文中首先对组合导航系统的定位精度进行了分析,然后基于提出的滤波定位模型和高稳定度的用户时钟,结合北斗系统的热备份星,在三星共视下实现了对惯导的闭环反馈校正设计,提高了滤波的稳定性,使的滤波后定位精度得到提高,三星闭环反馈校正设计也是本文第一次尝试,最后通过仿真说明引入前后滤波伪距之差观测量可以将钟差由不可估计变为可估计,改善了组合系统的稳定性,也通过仿真说明本文三星闭环反馈校正设计的可行性。更多还原

【Abstract】 an positioning Kalman filter positioning algorithm applied in"BeiDou"and INS integrated navigation system is proposed.Using the difference of pseudo-ranges that measured between fore-filter and aft-filter as observations is an innovation of this paper.First,the position precision of integrated navigation system is analyzed.Then,On the basis of the high stable clock and the third hot backup star of"BeiDou",a closed loop Kalman filtering model that can revise the position parameter of INS is realized. Finally,we explain in emulation mode that Using the difference of pseudo-ranges that measured between fore-filter and aft-filter as observations can make the state clock-difference from inestimable to estimable and can improve the stability of integrated navigation system.We also explain,that the closed loop method can improve the stabilization and precision of the integrated navigation system.更多还原