基于动态判断的组合导航性能改进方法

发布时间：2018-04-03 10:20

本文选题：惯性导航系统　切入点：动态判断　出处：《探测与控制学报》2017年02期

【摘要】：针对微机电系统(Micro Electro Mechanical System,MEMS)-惯性导航系统(Inertial Navigation System,INS)/全球定位系统(Global Positioning System,GPS)组合导航在城市车载导航应用中的定姿性能和GPS中断时的定位性能精度较差的问题,提出了一种基于动态判断的组合导航性能改进方法。该方法将车辆的动态分为三种,并设置了车辆在各个动态下的姿态约束和运动模型,然后利用惯性元件的输出判断出当前动态,并选择对应动态的姿态约束实时修正MEMS-INS定姿结果。当GPS中断时,则选择相应的运动模型进行定位推算,以便控制MEMS-INS定位误差。通过实验证明,该方法有效改进了MEMS-INS/GPS车载组合导航的性能。
[Abstract]:Aiming at the problem of attitude determination performance of micro Electro Mechanical system MEMS-inertial navigation system / Global Positioning system GPS (GPS) integrated navigation in urban vehicle navigation application and poor positioning performance accuracy when GPS is interrupted, this paper introduces the method of GPS / GPS / GPS / GPS / GPS / GPS / GPS / GPS / GPS / GPS / GPS / GPS / GPS / GPS integrated navigation system / GPS / GPS / GPS / GPS / GPS / GPS / GPS / GPS / GPS / GPS integrated navigation system.An improved method of integrated navigation performance based on dynamic judgment is proposed.The method divides the vehicle dynamics into three types, and sets the vehicle attitude constraints and motion models under each dynamic condition, and then judges the current dynamics by using the output of the inertial components.And the corresponding dynamic attitude constraints are selected to modify the MEMS-INS attitude determination results in real time.When the GPS is interrupted, the corresponding motion model is selected to calculate the location to control the positioning error of MEMS-INS.Experiments show that this method can improve the performance of MEMS-INS/GPS vehicle integrated navigation effectively.
【作者单位】：北京航空航天大学电子信息工程学院;
【基金】：国家自然科学基金项目资助(61101077)
【分类号】：TN967.2

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