全球定位系统2025，Vol.50Issue(5)：80-88,9.DOI:10.12265/j.gnss.2025021
INS/CNS导航下的多模型时延补偿与EKF融合研究
Research on multi-model time delay compensation and EKF fusion in INS/CNS integrated navigation
摘要
Abstract
To address the data output delay problem in the high-precision tightly coupled inertial navigation system/celestial navigation system(INS/CNS),a multi-model time delay compensation method based on the extended Kalman filter(EKF)is proposed.This method enables real-time calibration of navigation data and offers a novel approach to resolving measurement delays and irregular output intervals among subsystems.The experimental results show significant improvements:the positioning error in latitude and longitude is reduced from 50 m to 10 m;the heading angle error is reduced from 8′ to 0.5′;and the velocity error in eastward and northward celestial directions is reduced from 0.3 m/s and 1.5 m/s to 0.01 m/s and 0.1 m/s,respectively.Furthermore,Monte Carlo simulations confirm that the positioning error influence factor remains within the specified range,validating the robustness of the system performance.关键词
机载惯性/天文组合导航系统(INS/CNS)/扩展卡尔曼滤波(EKF)/多模型时延补偿/定位/航向角/速度/蒙特卡洛误差影响因子Key words
inertial navigation system/celestial navigation system(INS/CNS)/extended Kalman filter(EKF)/multi-model time delay compensation method/positioning error/heading error/velocity error/Monte Carlo error influencing factor引用本文复制引用
董强,王晓,李雪,崔勇,吴昊..INS/CNS导航下的多模型时延补偿与EKF融合研究[J].全球定位系统,2025,50(5):80-88,9.基金项目
西安市博士后创新基地科研项目(2019-13) （2019-13）
