High-precision attitude measurement method based on INS/GPS/CNS combined system

被引：0
|
作者：
Yin H. [1 ,2 ]
Du H. [3 ]
Hao Q. [4 ]
机构：
[1] China Ship Research and Development Academy, Beijing
[2] Department of Precision Instrument, Tsinghua University, Beijing
[3] The Research Institute of Navy Academy, Beijing
[4] School of Electrical Engineering & Automation, Harbin Institute of Technology, Harbin
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2019年 / 27卷 / 01期
关键词：
Information fusion; INS/GNSS/CNS integration; Time sync method; Unscented Kalman filter;
D O I：
10.13695/j.cnki.12-1222/o3.2019.01.021
中图分类号：
学科分类号：
摘要：
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 than 0.5 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%. © 2019, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
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页码：136 / 140
页数：4
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