改进概率关联算法在组合导航系统中的应用研究

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改进概率关联算法在组合导航系统中的应用研究

张恒浩, 孟秀云, 刘藻珍

北京理工大学宇航学院, 北京 100081

收稿日期:2011-12-16 修回日期:2012-02-15 出版日期:2012-11-25 发布日期:2012-11-22
通讯作者: 孟秀云 E-mail:mengxy@bit.edu.cn

Research on Improved Probability Association Algorithm Applied to Integrated Navigation

ZHANG Henghao, MENG Xiuyun, LIU Zaozhen

School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

Received:2011-12-16 Revised:2012-02-15 Online:2012-11-25 Published:2012-11-22

摘要/Abstract

摘要： 针对组合导航系统中子系统提供的量测信息相互之间关联性不足的问题,在组合导航系统中引入改进概率关联算法,通过改进的概率关联算法将这些导航信息按一定关系联系起来并进行融合计算。首先通过推导短时间概率关联算法求解惯性导航系统(INS)得到信息的可信概率,并引入掩模算子对全球定位系统(GPS)信息进行精度判断;然后,推导出长时间概率关联算法对组合导航系统信息进行融合;最后,建立修正算法并利用长时间概率关联算法得到的信息对惯性导航系统进行误差修正。仿真结果表明,这一改进的概率关联算法可以有效判断GPS信息精度并提高组合导航系统的导航精度。

关键词: 组合导航, 独立导航, 惯性导航系统, 全球定位系统, 短时间概率关联算法, 长时间概率关联算法, 掩模算子, 误差修正

Abstract: Integrated navigation often suffers from the fact that the measured data coming from different subsystems do not show enough relevance among themselves. In this paper an improved probability association algorithm is used in integrated navigation to connect the information and calculate the fused information. The short-time probability association algorithm is deduced first to calculate the confidence probability that reflects the inertial navigation system (INS) information and the masking operator is used to estimate the precision of the global positioning system (GPS) information. Secondly, the long-time probability association algorithm is deduced to fuse the integrated navigation information. Finally, the correctional algorithm is deduced to use the information obtained from the long-time probability association algorithm to correct the INS error. The simulation result shows that the improved probability association algorithm can effectively estimate the precision about GPS information and improve the integrated navigation precision.

Key words: integrated navigation, independent navigation, inertial navigation system, global positioning system, short-time probability association algorithm, long-time probability association algorithm, masking operator, amendment of error

中图分类号:

V448

张恒浩, 孟秀云, 刘藻珍. 改进概率关联算法在组合导航系统中的应用研究[J]. 航空学报, 2012, 33(11): 2113-2120.

ZHANG Henghao, MENG Xiuyun, LIU Zaozhen. Research on Improved Probability Association Algorithm Applied to Integrated Navigation[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2012, 33(11): 2113-2120.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

改进概率关联算法在组合导航系统中的应用研究

Research on Improved Probability Association Algorithm Applied to Integrated Navigation

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