信息与控制2011，Vol.40Issue(6)：760-766,7.DOI:10.3724/SP.J.1219.2011.00760
基于三轴磁强计和重力测量的融合导航算法
An Integrated Navigation Algorithm Based on Three-Axis Magnetometer and Gravity Measurement
摘要
Abstract
In order to reduce the estimation error covariance of geomagnetic navigation and improve the reliability and the stability of geomagnetic navigation, an integrated navigation algorithm based on three-axis magnetometer and gravity measurement is proposed which introduces gravity as new measure information into the geomagnetic navigation system. The algorithm uses the position and the velocity of the aircraft as state vectors to establish state equation, and the intensity vectors of the magnetic field and the gravity field as observation vectors to establish observation equation. A kind of federated filter is designed to fuse the measured information from three-axis magnetometer and gravity measurement. For both the state and the measurement equations of those two methods are nonlinear, the unscented Kalman filter (UKF) is used as the sub-filter to improve the accuracy. The simulation results show that the position estimation error of the method is less than 30 m and velocity estimation error is less than 5 m/s. Comparing with mono-geomagnetic navigation system and mono-gravity navigation system, the integrated navigation algorithm shows better convergence and reliability.关键词
三轴磁强计/重力测量/联邦滤波/子滤波器Key words
three-axis magnetometer/ gravity measurement/ federated filter/ sub-filter分类
航空航天引用本文复制引用
吴萌,马杰,田金文,刘劲..基于三轴磁强计和重力测量的融合导航算法[J].信息与控制,2011,40(6):760-766,7.基金项目
国家863计划资助项目(2006AAJ109) （2006AAJ109）
航空科学基金资助项目(20070818001). （20070818001）
