Controllability of“BD-1”/ INS integrated navigation algorithm

DOI编号  10.7641/j.issn.1000-8152.2011.4.CCTA091022
2011,28(4):538-544

 作者 单位 E-mail 高法钦 浙江理工大学 信息电子学院 wenxiuli6@126.com 黄静 浙江理工大学 信息电子学院

为了提高组合导航系统的定位精度, 本文分析了影像北斗一号双星/惯导组合导航定位算法预测误差的重要因素可控性. 首先, 用一个例子说明了可控性分析的作用及其重要性, 并由组合导航滤波定位模型及其可控性的定义出发, 通过数学推导论证了卡尔曼滤波器满足可控性的条件. 接着, 提出、推导了定量分析各滤波器状态量可控度即可控性好坏的方法. 最后, 运用所提方法仿真了北斗双星/惯导组合导航滤波定位模型的可控性、各状态量的可控度, 并分析了各状态量预测精度及其与哪些因素有关, 所得结论可用于指导设计双星/惯导组合导航滤波定位模型, 以便提高组合导航系统定位输出的精度.

To improve the position precision of the integrated navigation system, this paper investigates the major factors that affect the errors in the position prediction algorithm for“BD-1 Twin-star”and INS integrated navigation system. We demonstrate the significance of the controllability through an example, and derive the controllable conditions for Kalman filter based on the integrated navigation system model and the definition of controllability. Next, we introduce the concept of controllability degree for the state of the filter for evaluating the controllability. Finally, simulation is carried out for the controllability and the controllability degree of each state of the “BD-1 Twin-star” and INS integrated navigation model. The prediction precision of each state is analyzed, and the relevant factors are determined. These conclusions can be applied to the design of the position filter model for the“Double-Star”and INS integrated navigation system in raising the position precision.