基于RT-LAB的组合导航仿真平台设计

张亚崇; 岳亚洲; 刘玉双; 赵剡

基于RT-LAB的组合导航仿真平台设计

1.
西安飞行自动控制研究所飞行器控制一体化国防科技重点实验室, 西安 710065
2. 北京航空航天大学仪器科学与光电工程学院, 北京 100191

基金项目: 国家重点基础研究发展计划（973计划）资助项目（2010CB731800）；航空科学基金资助项目（20100818018，20110818013）

详细信息

中图分类号: V249.32;TP391.9
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出版历程
- 收稿日期: 2012-12-04
- 网络出版日期: 2013-11-30

Design of integrated navigation system simulation platform based on RT-LAB

1.
Science and Technology on Aircraft Control Laboratory, Xi'an Flight Automatic Control Research Institute, Xi'an 710065, China
2. School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 设计了一种基于RT-LAB的SINS/GPS/CNS（Strapdown Inertial Navigation System/Global Positioning System/Celestial Navigation System）组合导航系统仿真平台方案，建立具有故障检测、隔离和系统重构能力的基于联邦卡尔曼滤波器的姿态、位置、速度组合导航系统方案和结构.将SINS与GPS的位置之差和速度之差作为SINS/GPS子滤波器的观测量，通过CNS给出的载体惯性姿态信息获得SINS的姿态误差角测量信息.仿真结果表明，该系统方案具有较强的容错性能、较高的导航精度和很强的实时性能，为组合导航技术的研究提供了有益的参考.
- 惯导系统 /
- 组合导航系统 /
- 联邦滤波 /
- 信息融合
Abstract: A strapdown inertial navigation system/global positioning system/celestial navigation system(SINS/GPS/CNS) simulation platform based on RT-LAB was designed. Based on attitude, position and velocity, the integrated navigation system solution with federated Kalman filter has the capability of fault detection, isolation and system reconfiguration. The SINS/GPS sub-filter observations are the difference of position and velocity. And the inertial attitude information of carrier was given by CNS, therefore the attitude error measurement of SINS was obtained. Simulation results show that the solutions have the stronger fault tolerant performance and higher navigation accuracy and the stronger real-time performance. The work is valuable for the research of related techniques in integrated navigation system.
- inertial navigation system /
- integrated navigation system /
- federated filter /
- information fusion

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参考文献(12)

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