基于INS/GPS/CNS组合系统的高精度测姿方法

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英文篇名：High-precision attitude measurement method based on INS/GPS/CNS combined system 作者：尹洪亮 ; 杜红松 ; 郝强 英文作者：YIN Hongliang;DU Hongsong;HAO Qiang;China Ship Research and Development Academy;Department of Precision Instrument,Tsinghua University;The Research Institute of Navy Academy;School of Electrical Engineering & Automation, Harbin Institute of Technology; 关键词：INS/GPS/CNS组合系统 ; UKF ; 时间同步 ; 信息融合 英文关键词：INS/GNSS/CNS integration;;unscented Kalman filter;;time sync method;;information fusion 中文刊名：ZGXJ 英文刊名：Journal of Chinese Inertial Technology 机构：中国舰船研究院;清华大学精密仪器学院;海军研究院;哈尔滨工业大学电气工程及自动化学院; 出版日期：2019-02-15 出版单位：中国惯性技术学报 年：2019 期：v.27 基金：海军预先研究项目(30201070401) 语种：中文; 页：ZGXJ201901021 页数：5 CN：01 ISSN：12-1222/O3 分类号：142-146

摘要

为改善INS/CNS/GPS组合导航系统输出姿态信息的稳定性,解决传统FKF算法非线性条件下姿态精度发散的问题,提出了一种基于UKF的FKF滤波算法;同时为解决各系统间时间信息不同步造成姿态精度下降的问题,提出了一种工程上可用的时间同步方案,同步精度优于0.5 ms。在实验室条件下,利用INS/GPS/CNS样机和高精度三轴转台搭建验证系统进行摇摆试验,试验结果表明,提出的方法可实现姿态误差值变化在5%以内条件下系统稳定工作一天以上。
        In order to improve the stability of the output attitude information of INS/CNS/GPS integrated navigation system and solve the problem of divergence of attitude accuracy under the nonlinear condition of traditional FKF algorithm, a data fusion algorithm of federated Kalman filter based on unscented Kalman filter is proposed. Meanwhile, to improve the output frequency of attitude information, a high frequency output scheme is proposed, which can be used in engineering, and the synchronization accuracy is better than0.5 ms. Under laboratory conditions, the INS/GPS/CNS prototype and high-precision three-axis turntable are used to build the verification system for testing the effectiveness of the proposed method. The experimental results show that the proposed method can make the system work continuously for more than one day with attitude stability being less than 5%.

引文

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