| 水面多传感器组合导航系统技术研究 |
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| 引用本文： | 程莉,颜国正,颜德田.水面多传感器组合导航系统技术研究[J].光学精密工程,2001,9(4):348-352. |
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| 作者姓名： | 程莉 颜国正 颜德田 |
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| 作者单位： | 上海交通大学电子信息学院精密机械及仪器研究所, |
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| 摘 要： | 研究了INS、GPS、Doppler计程仪组成的水面多传感器组合导航技术,给出了设计方案;介绍了一种修正的自适应卡尔曼滤波算法,并应用于组合导航系统.仿真结果表明,该算法可以有效的抑制滤波发散,提高了组合导航系统的精度.
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| 关 键 词： | 惯性导航系统 全球定位系统 组合导航系统 自适应卡尔曼滤波 传感器 |
| 文章编号： | 1004-924X(2001)04-0348-05 |
| 收稿时间： | 2001-03-27 |
| 修稿时间： | 2001年3月27日 |
Research on the multisensor integrated navigation system |
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| CHENG Li,YAN Guo- zheng,YAN De-tian.Research on the multisensor integrated navigation system[J].Optics and Precision Engineering,2001,9(4):348-352. |
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| Authors: | CHENG Li YAN Guo- zheng YAN De-tian |
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| Affiliation: | Department of Information Detection Technology and Instrument, Electronic Information Engineering Institute, Shanghai Jiaotong University, Shanghai, 200030, China |
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| Abstract: | In addition to describing a marine multisensor integrated navigation system, the paper also establishes a mathematical model for the integrated navigation system To gain good performance and divergence , an adaptive Kalman filtering technique applied to the system is proposed. The simulation shows that this technique can effectively restrain the filtering divergence and improves accuracy of the integrated navigation system. |
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| Keywords: | INS GPS integrated navigation systems adaptive Kalman filtering |
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