[1]祝燕华,蔡体菁,刘莹.IMU/计程仪/重力组合导航系统信息融合方法[J].东南大学学报(自然科学版),2009,39(6):1146-1150.[doi:10.3969/j.issn.1001-0505.2009.06.012]
 Zhu Yanhua,Cai Tijing,Liu Ying.Information fusion method of IMU/log/ gravity integrated navigation system[J].Journal of Southeast University (Natural Science Edition),2009,39(6):1146-1150.[doi:10.3969/j.issn.1001-0505.2009.06.012]
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IMU/计程仪/重力组合导航系统信息融合方法()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
39
期数:
2009年第6期
页码:
1146-1150
栏目:
仪器科学与技术
出版日期:
2009-11-20

文章信息/Info

Title:
Information fusion method of IMU/log/ gravity integrated navigation system
作者:
祝燕华 蔡体菁 刘莹
东南大学仪器科学与工程学院,南京 210096
Author(s):
Zhu Yanhua Cai Tijing Liu Ying
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
关键词:
惯性导航 重力 组合导航 卡尔曼滤波 信息融合
Keywords:
inertial navigation gravity integrated navigation Kalman filter information fusion
分类号:
U666.1
DOI:
10.3969/j.issn.1001-0505.2009.06.012
摘要:
针对现代战争环境对导航系统高自主性、高隐蔽性的要求,提出了IMU/计程仪/重力无源组合导航方式.深入研究了IMU/计程仪/重力组合导航系统的信息融合方法,设计了该系统的工作模式.采用扩展卡尔曼滤波进行各传感器信息的融合.根据导航系统对实时性的要求,建立了系统的低阶误差状态方程; 将厄特弗斯效应的影响考虑到滤波器设计中,建立了系统的重力观测方程; 将计程仪的速度与惯性速度进行融合,建立了系统的速度观测方程; 在不增加系统成本的条件下,进一步利用加速度计输出估计水平姿态,建立了系统的姿态观测方程.在此基础上,设计了相应的信息融合策略.实际系统的机载试验结果表明,IMU/计程仪/重力组合导航系统算法正确、性能良好,可以有效地控制惯导系统位置和速度误差的累积,满足长时间一定精度的导航要求.
Abstract:
Independent and covert navigation system is highly demanded in modern war environment. Therefore, a passive navigation mode is presented and shown as IMU/log/gravity integrated navigation system. The information fusion method is deeply discussed in this paper. Firstly, the system’s work mode is designed. Secondly, extended Kalman filter is applied to fuse all sensors’ information. According to system real-time requirement, state equation with low order is built up; Considering Eotvos effect to the Kalman filter, gravity observation equation is established; The velocity information from log and inertial measuring unit are integrated, thereby, velocity observation equation is set up; Without increasing any cost, accelerometer’s information is employed to calculate attitude, and then attitude observation equation is built up. Finally, some information fusion strategy is designed. Physical system’s airborne testing results demonstrate that the algorithm advanced in the paper is correct and effective, and the position and velocity error of inertial navigation system can be suppressed. The IMU/log/gravity integrated navigation system is able to meet the demand for long time and passive navigation.

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备注/Memo

备注/Memo:
作者简介: 祝燕华(1980—),女,博士,讲师; 蔡体菁(联系人),男,博士,教授,博士生导师,caitij@seu.edu.cn.
基金项目: 国防科技预研资助项目(51309010202)、国家高技术研究发展计划(863计划)重大资助项目(2006AA06A203,2006AA12Z302).
引文格式: 祝燕华,蔡体菁,刘莹.IMU/计程仪/重力组合导航系统信息融合方法[J].东南大学学报:自然科学版,2009,39(6):1146-1150.
[doi:10.3969/j.issn.1001-0505.2009.06.012]
更新日期/Last Update: 2009-11-20