为解决传统INS/GPS两组合算法输出姿态精度低、长时间精度发散的问题，本文采用INS/GPS/CNS三组合的方式，结合联邦滤波器设计思路，提出一种基于INS/GPS/CNS的联邦滤波算法，以位置误差、速度误差和平台失准角作为观测量，通过设计INS/GPS/CNS三组合系统，对算法有效性进行试验验证。静态试验结果表明：本文所提算法相较于传统INS/GPS两组合算法，平台失准角精度可以提高一个数量级，且算法收敛、稳定、容错性强，工程应用意义重大。
To solve the problem of low attitude precision and error diverges over time caused by traditional INS/GPS combination algorithm, this paper uses the way of INS/GPS/CNS three combination, combining with the federal filter algorithm, proposing a federated filtering algorithm based on INS/GPS/CNS. We use the position error, velocity error and platform misalignment angle as observed quantity, through designing INS/GPS/CNS three combination system and the static test show that the proposed algorithm can make the platform misalignment angle precision increase one order of magnitude compared with the traditional INS/GPS combination algorithm, and the algorithm is convergent, strong-stability and fault-tolerance, is of great significance for engineering applications.
2018,40(5): 128-131 收稿日期：2017-10-26
DOI：10.3404/j.issn.1672-7649.2018.05.024
分类号：U666.1
作者简介：杜红松(197-),工程师,主要从事舰船导航技术研究
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