| 引用本文: | 钱华明,孙龙,黄蔚,蔡佳楠.捷联惯性/星光折射组合导航算法[J].哈尔滨工业大学学报,2013,45(9):52.DOI:10.11918/j.issn.0367-6234.2013.09.010 |
| QIAN Huaming,SUN Long,HUANG Wei,CAI Jianan
.SINS/RCNS integrated navigation algorithm[J].Journal of Harbin Institute of Technology,2013,45(9):52.DOI:10.11918/j.issn.0367-6234.2013.09.010 |
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| 摘要: |
| 基于星光折射间接敏感地平的高精度特性,本文提出了一种捷联惯性/星光折射组合导航方法．利用星敏感器输出的姿态信息修正陀螺漂移,并结合大气折射模型得到星光折射角来修正位置、速度误差．推导了组合导航系统的观测模型,并对系统进行可观测性分析,最后使用卡尔曼滤波进行状态估计．仿真结果表明:捷联惯性/星光折射组合导航系统不但能够准确的估计陀螺漂移,而且能够有效修正由加速度计偏置造成的误差,从而进一步抑制速度、位置误差的发散,是一种提高系统定位精度的实用方法． |
| 关键词: 组合导航 星光折射 水平基准 大气折射模型 |
| DOI：10.11918/j.issn.0367-6234.2013.09.010 |
| 分类号: |
| 基金项目:国家自然科学基金资助项目 (61104036). |
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| SINS/RCNS integrated navigation algorithm |
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QIAN Huaming, SUN Long, HUANG Wei, CAI Jianan
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(College of Automation, Harbin Engineering University, 150001 Harbin, China)
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| Abstract: |
| The strap-down inertial/stellar refraction integrated navigation method (SINS/RCNS) was proposed in this paper based on high precision of starlight refraction indirect sensitive horizon. The outputs posture of the star sensor correct gyro drift, and combined with the atmospheric refraction model, the starlight refraction angle can be got which is used to correct the position and velocity error. The observation model of the integrated navigation system was derivated, and it's observability was analyzed, finally the Kalman filter (KF) was used for state estimation. The simulation result indicated that the proposed method was able not only to estimate the gyro drift exactly, but also to correct the navigation error caused by the accelerometer bias, the divergence of the speed and position error was bated ulteriorly, therefore it was a practical method to improve the positioning accuracy. |
| Key words: integrated navigation starlight refraction level benchmark atmospheric refraction model
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