Information fusion technology in FOG/GPS integrated navigation system
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摘要: 光纤陀螺捷联惯导系统用于导航定位具有自主性的优点,但系统误差随时间累积.全球定位系统(GPS,Global Position System)用于导航定位精度很高,误差不随时间积累,但抗干扰性能很差,没有自主性.运用信息融合技术将光纤陀螺捷联系统和GPS进行组合,将GPS的高度信息引入惯导高度反馈通道,设定反馈系数,抑制高度发散,将GPS经度、纬度、地速信息作为系统卡尔曼滤波器量测信息,消除惯导积累误差.提出的信息融合方案运用于某中精度光纤陀螺/GPS组合导航系统并进行路试,导航系统输出3个方向位置数据与定位基准相比,误差不随时间积累,路试结果表明此信息融合方案的有效性及工程的实用性.Abstract: Fiber optic gyro(FOG) strapdown inertial navigation system used in orientation has an advantage of independence, but its system error accumulates with time; Global position system(GPS) can provide more accurate information, but it is interfered easily. FOG and GPS was integrated using information fusion technology. GPS height information was introduced into vertical channel to restrain error increasing basing on setting feedback coefficients. GPS latitude, longitude and horizontal velocity was introduced as Kalman filter observation to remove accumulating error. Information fusion means presented here was applied in a medium-precision FOG/GPS navigation system, and tested in a vehicle. Error of system output positioning parameters was not increased along with time. The testing results are presented to validate the availability and engineering utility of the information fusion means.
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Key words:
- fiber optic gyro /
- global position system /
- information fusion /
- Kalman filter
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