| AR模型辅助SINS／GPS组合导航的实验研究 |
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| 引用本文： | 冯庆奇,王宇,汤建勋,于旭东.AR模型辅助SINS／GPS组合导航的实验研究[J].光学与光电技术,2009,7(3):41-44. |
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| 作者姓名： | 冯庆奇 王宇 汤建勋 于旭东 |
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| 作者单位： | 1. 国防科学技术大学光电学院,湖南长沙410073;中国酒泉卫星发射中心,甘肃酒泉732750
2. 国防科学技术大学光电学院,湖南长沙,410073 |
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| 摘 要： | 激光陀螺的随机漂移噪声类似于白噪声，可以采用AR（2）模型进行数字滤波来减小其对激光陀螺精度的影响。首先介绍了AR模型，然后利用IMU单元三组陀螺信号的AR（2）模型给出了车载SINS／GPS组合导航系统误差模型，并在GPS的辅助下，对SINS／GPS组合导航进行了实验研究。最后利用Kalman滤波器对车载SINs／GPS组合导航实际测量数据进行了离线的半实物仿真。实验结果表明，采用AR（2）模型辅助的SINS／GPS组合导航系统能够得到较高的姿态精度，并能有效抑制速度误差的发散。
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| 关 键 词： | 激光陀螺 AR（2）模型 卡尔曼滤波 组合导航 |
Experimental Resarch on AR Model-Aided SINS/GPS Integrated Navigation |
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| FENG Qing-qi,WANG Yu,TANG Jian-xun,YU Xu-dong.Experimental Resarch on AR Model-Aided SINS/GPS Integrated Navigation[J].optics&optoelectronic technology,2009,7(3):41-44. |
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| Authors: | FENG Qing-qi WANG Yu TANG Jian-xun YU Xu-dong |
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| Institution: | 1 College of Opto-Electronic Science and Engineering, National University of Defense Technology, Changsha 410073, China; 2 Jiuquan Satellite Launching Center, Jiuquan 732750, China ) |
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| Abstract: | The random drift of ring laser gyroscope is similar to white noise. The digital filtering method of AR（2） model can be used to filter the random drift. The error model of SINS/GPS integrated navigation is presented by using three gyro signals of IMU unit. Experiments of SINS/GPS integrated navigation are done to collect original data and then some off-line hardware-in-the-loop simulation is done by using Kalman filter. The simulation results show that a higher attitude accuracy can be acquired, and the velocity error can be depressed effectively by using AR（2） model-aided ring laser gyroscope SINS/ GPS integrated navigation system. |
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| Keywords: | ring laser gyroscope AR（2） model Kalman filter integrated navigation |
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