| MSINS/GPS全组合系统可观测性分析 |
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| 引用本文： | 胡小毛,刘飞,翁海娜.MSINS/GPS全组合系统可观测性分析[J].中国惯性技术学报,2011,19(1). |
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| 作者姓名： | 胡小毛 刘飞 翁海娜 |
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| 作者单位： | 天津航海仪器研究所,天津,300131 |
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| 基金项目： | 天津市科技重点支撑项目(08ZCKFGX04000); 国防科工委基础科研项目(C1420080224) |
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| 摘 要： | 卡尔曼滤波是组合导航系统处理数据最常用的算法。首先给出PWCS可观测性定理,然后在G矩阵选星算法的基础上,设计了基于伪距/伪距率的MSINS/GPS紧耦合系统(TCS)的卡尔曼滤波器,在上述量测方程中加入基于GPS载波相位观测量的姿态测量方程,给出了有姿态测量信息的全组合系统(CIS)。最后证明了CIS满足PWCS定理条件,即可以用离散系统的选择可观测性矩阵(SOM)代替相应的连续系统的总可观测性矩阵(TOM)对系统进行可观测性和可观测度的分析。利用奇异值分解(SVD)理论给出了不同可见卫星数时CIS的可观测性分析结果。与不加入姿态观测信息的MSINS/GPS的TCS比较,计算结果表明CIS比TCS具有更好的可观测性和可观测度。
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| 关 键 词： | 紧耦合系统 全组合系统 选星算法 G矩阵 载波相位测量 分段线性定常系统 可观测度 |
Observability analysis of MSINS/GPS complete integrated system |
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| HU Xiao-mao,LIU Fei,WENG Hai-na.Observability analysis of MSINS/GPS complete integrated system[J].Journal of Chinese Inertial Technology,2011,19(1). |
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| Authors: | HU Xiao-mao LIU Fei WENG Hai-na |
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| Institution: | HU Xiao-mao,LIU Fei,WENG Hai-na(Tianjin Navigation Instruments Research Institute,Tianjin 300131,China) |
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| Abstract: | Kalman filter is the most versatile procedure for the data processing of integrated navigation system.In this paper,the theorems of piece-wise constant system(PWCS) were presented.Then,based on the constellation-selecting algorithm of G matrix,the Kalman filter was designed for the miniature strapdown inertial navigation system(MSINS)/GPS tightly-coupled system(TCS) based on pseudorange and pseudorange rate.Furthermore,the complete integrated system(CIS) with attitude information was presented which combine... |
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| Keywords: | tightly-coupled system complete integrated system constellation-selecting algorithm G matrix carrier phase measurements piece-wise constant system degree of observability |
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