Nonliearity compensation for pseudolite/INS integrated navigation
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摘要: 伪卫星具有抗干扰能力强和布置灵活机动的特点,在增强卫星系统和独立组网为用户提供更高精度导航定位信息方面具有广阔的应用前景.研究了一种伪卫星/惯性组合导航的非线性补偿算法.由于伪卫星与用户的距离比卫星近得多,其非线性量测的影响也严重得多.采用二次项修正一定程度上弥补了传统线性化方法存在的模型误差大、滤波效果差甚至发散的问题.为避免求解非线性方程的困难使用了两步估计方法,大大降低了算法的复杂度.仿真结果表明,该算法可以显著提高伪卫星/惯性组合导航系统的性能,具有很高的实用性.Abstract: Pseudolite-based positioning systems have a bright outlook in providing users higher precision navigation information due to the stronger anti-jamming capability and flexibility compared with orbiting satellites. A nonliearity compensation algorithm was studied for the pseudolite/inertial navigation system(INS) integrated navigation. The influence of pseudolite measurement nonlinearity is more severe than that of satellites since the distances between pseudolites and users are much closer. By utilizing the second-order items correction, the algorithm to a certain extent overcame the problems of large modeling errors and bad filtering performance or even divergence when using conventional linear algorithm. And a two-stage cascaded estimation method was employed to avoid the difficulty of solving nonlinear equations, which greatly decreased the computational complexity of the compensation algorithm. The simulation results indicate that the algorithm can greatly enhance the precision and reliability of the pseudolite/ INS integrated system, hence is of great value in practice.
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