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船用惯性/地磁导航系统信息融合策略与性能
引用本文:穆华,任治新,胡小平,马宏绪.船用惯性/地磁导航系统信息融合策略与性能[J].中国惯性技术学报,2007,15(3):322-326.
作者姓名:穆华  任治新  胡小平  马宏绪
作者单位:国防科技大学,机电工程与自动化学院,长沙,410073
摘    要:地磁异常场的强度在空间上变化丰富而在时间上很稳定。对地磁异常值与位置之间的非线性函数关系进行了随机线性化,将地磁异常测量值直接作为观测量,采用扩展卡尔曼滤波技术实现地磁异常测量信息与惯性导航信息的融合,估计并校正了惯性导航系统导航误差。仿真表明,组合导航系统具有如下良好性能:对地磁异常具有广泛的适用性;对初始位置误差、速度误差及姿态误差具有较好的鲁棒性;对地磁数据噪声敏感度较低;可实时更新组合导航信息。将观测量选为参考数据测量值的信息融合策略引入惯性/地磁组合导航。定量描述地磁异常辅助惯性导航系统的信息量,分析组合导航系统对地磁图的适用性。

关 键 词:自主导航  惯性/地磁导航  随机线性化  地磁场
文章编号:1005-6734(2007)03-0322-05
修稿时间:2007-03-072007-05-08

Information fusion strategy and performance for marine Inertial/Geomagnetic navigation system
MU Hua,REN Zhi-xin,HU Xiao-ping,MA Hong-xu.Information fusion strategy and performance for marine Inertial/Geomagnetic navigation system[J].Journal of Chinese Inertial Technology,2007,15(3):322-326.
Authors:MU Hua  REN Zhi-xin  HU Xiao-ping  MA Hong-xu
Institution:College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073, China
Abstract:The intensity of the geomagnetic anomaly field is almost constant in time while varies in space. An extended Kalman filtering (EKF) algorithm was used to estimate and correct the INS errors by linearizing the geomagnetic anomaly surface with stochastic linearization method,and taking the measurement of the geomagnetic anomaly intensity as the observation. Simulations show that the proposed algorithm is widely suitable for the various areas with different geomagnetic characters,and is robust to the initial errors in position,velocity and attitude. It also tolerates large geomagnetic measuring noise and provides real time navigation results. The information fusion strategy of taking measurement of the reference data as the observation was introduced into the inertial/geomagnetic navigation system. The information content of geomagnetic anomaly field was described quantitatively and the applicability of the integrated system to the geomagnetic map was analyzed.
Keywords:autonomous navigation  inertial/geomagnetic navigation  stochastic linearization  geomagnetic field
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