基于5阶球面最简相径的改进型容积卡尔曼滤波在SINS/DVL组合导航中的应用

为提高水下SINS/DVL组合导航系统的精度,建立了捷联惯性导航系统(SINS)的非线性误差模型,并建立多普勒测速仪的误差方程,以SINS为主导航设备建立SINS/DVL组合导航系统模型。设计了5阶球面最简相径容积卡尔曼滤波器,采用了球面最简相径采样规则改进容积卡尔曼滤波,并应用于SINS/DVL组合导航系统中。通过数学平台仿真验证了5阶球面最简相径容积卡尔曼滤波方法有效性,仿真结果表明:该方法能够有效提高SINS/DVL组合导航系统的精度,且稳定性好。

Improved fifth-degree spherical simplex sadial cubature Kalman filter in SINS/DVL integrated navigation

In order to improve the accuracy of SINS/DVL integrated navigation system,a SINS/DVL integrated navigation system model is built based on establishing the nonlinear error model of SINS and the error equation of the Doppler velocity log (DVL).To further improve the navigation accuracy,a fifth-degree cubature Kalman filter is applied.In view that conventional fifth-degree cubature Kalman filter has too large computation amount and relative poor robustness,a fifth-degree spherical simplex radial (SSR) cubature Kalman filter is designed,which adopts the SSR rule to change the sampling rule and reduce the number of sampling points.Simulation results show that the proposed method can effectively improve the accuracy of the SINS/DVL integrated navigation system and has better stability.