抗差估计及 Allan 方差在车载组合导航系统中的应用研究

doi:10.3969/j.issn.1000-1093.2013.07.015

兵工学报 ›› 2013, Vol. 34 ›› Issue (7): 889-895.doi: 10.3969/j.issn.1000-1093.2013.07.015

抗差估计及 Allan 方差在车载组合导航系统中的应用研究

吴有龙, 王晓鸣, 曹鹏

南京理工大学机械工程学院, 江苏南京210094

收稿日期:2012-09-06 修回日期:2012-09-06 上线日期:2014-08-19
作者简介:吴有龙(1987—),男,博士研究生。

The Application of Robust Estimation and Allan Variance Method in Land Vehicle Navigation

WU You-long, WANG Xiao-ming, CAO Peng

School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China

Received:2012-09-06 Revised:2012-09-06 Online:2014-08-19

摘要/Abstract

摘要： 针对组合导航系统中全球定位系统(GPS)信号易丢失和干扰、惯性导航系统(INS)无法长时间单独工作的问题,通过采用带故障检测和隔离的导航算法解决GPS 数据异常的问题,有效提高系统的可靠性;同时当GPS 卫星信号短时间丢失时,利用Allan 方差分析方法确定惯性传感器误差并进行补偿,使纯INS 能够在一定精度内独立工作相对长的一段时间。车载试验结果表明:该方法能够保证组合导航系统的可靠性,且在GPS 信号短时间丢失情况下提高了纯惯导系统的导航性能。

关键词: 兵器科学与技术, 组合导航, 故障检测, 故障隔离, Allan 方差

Abstract: In order to solve the problems existing in integrated navigation system, such as global positioning system (GPS) signal interruption, interference and short operating time of inertial navigation system (INS), a fault detection and isolation module is integrated in the navigation system, with which the faulty GPS measurements could be excluded so as to improve the system reliability and availability. Meanwhile, the inertial sensor errors are analyzed with Allan variance method and compensated in the computation procedure so that the navigation system can operate with an acceptable accuracy as long as possible when GPS signal interruption happens. The experimental results show that the proposed method can effectively enhance the performance of the integrated navigation system, especially when GPS signal is interrupted.

Key words: ordnance science and technology, integrated navigation, fault detection, fault isolation, Allan variance

中图分类号:

TG156

吴有龙, 王晓鸣, 曹鹏. 抗差估计及 Allan 方差在车载组合导航系统中的应用研究[J]. 兵工学报, 2013, 34(7): 889-895.

WU You-long, WANG Xiao-ming, CAO Peng. The Application of Robust Estimation and Allan Variance Method in Land Vehicle Navigation[J]. Acta Armamentarii, 2013, 34(7): 889-895.

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抗差估计及 Allan 方差在车载组合导航系统中的应用研究

The Application of Robust Estimation and Allan Variance Method in Land Vehicle Navigation

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