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为了减小地磁导航的估计误差协方差,提高导航的可靠性和准确性,将重力作为一种新的量测信息引入到地磁导航系统中,提出了基于三轴磁强计与重力测量的融合导航算法.该算法以飞行器的位置与速度向量作为状态向量,建立状态方程;以飞行器所在位置的地磁场强度矢量与重力场强度矢量作为观测向量,建立观测方程;设计了一种联邦滤波器,用于融合三轴磁强计与重力测量仪表提供的量测信息.由于量测方程与状态方法都是非线性的,因此采用无迹卡尔曼滤波器(UKF)作为子滤波器可获得较高精度.仿真结果表明:该方法得到的位置估计误差小于30m,速度误差小于5m/s.与单一地磁导航、重力导航方法相比,该组合导航方法显示出更好的收敛性与可靠性.
In order to reduce the covariance of estimation error of geomagnetic navigation and improve the reliability and accuracy of navigation, gravity is introduced into the geomagnetic navigation system as a new measurement information, and a fusion based on three-axis magnetometer and gravity measurement is proposed The algorithm takes the position and speed vector of the aircraft as the state vector and establishes the equation of state. The observational equation is established by using the geomagnetic field strength vector and the gravity field strength vector of the aircraft as the observation vector. A federal filter is designed, It is used to fuse the measurement information provided by the three-axis magnetometer and the gravity measuring instrument.Because the measurement equation and the state method are nonlinear, the unscented Kalman filter (UKF) can be used as the sub-filter to obtain higher accuracy The simulation results show that the proposed method can get less than 30m of position estimation error and less than 5m / s of velocity error.Compared with a single geomagnetic navigation and gravity navigation method, this integrated navigation method shows better convergence and reliability.