Nonlinear geomagnetic/GPS/SINS integrated navigation

作者：Huang Xian Lin; Li Ming Ming^*; Lu Hong Qian; Hu Hai Dong

来源：Journal of Harbin Engineering University, 2010, 31(10): 1340-1347.

DOI：10.3969/j.issn.1006-7043.2010.10.012

• Attitude determination
• Attitude error
• Attitude measurement
• Geomagnetic navigation
• Integrated navigation
• Navigation error
• Navigation tasks
• Simulation result
• Square-root
• System models

The square-root UKF algorithm was improved according to the peculiarity of the system model. Compared with the old square-root UKF, the improved square-root UKF could not only guarantee the positive semi-definiteness of the state covariance, but could also reduce the computational complexity. To overcome the issue of linear navigation errors, equations could not be applied in the case of a system with large attitude errors. To improve the attitude determination performance of the navigation system, a nonlinear geomagnetic attitude measurement equation was derived which could be applied when the attitude errors were large. A nonlinear geomagnetic/GPS/SINS integrated navigation algorithm was proposed in combination with the improved square-root UKF. The performance of a nonlinear geomagnetic/GPS/SINS navigation system was studied by Matlab simulating when the attitude errors were large. The simulation results show that the nonlinear geomagnetic/GPS/SINS navigation system can observe the carrier platform attitude error directly through introducing the information of geomagnetic attitude measurement. As a result, the estimated effect of attitude errors is enhanced, and the navigation task with large attitude errors can be completed.

• 出版日期2010