基于联邦滤波的惯导/北斗/里程计紧 组合导航算法研究

针对地面载体长时间复杂应用环境对导航系统精确性和可靠性的要求，提 出一种基于联邦滤波器的惯导/北斗/里程计紧组合导航算法。在分析惯导、北斗、里程 计导航系统特点的基础上，建立了组合导航系统的误差状态模型和量测模型，采用联邦 滤波器实现了三者的紧组合容错系统设计，分别对子系统无故障、北斗及里程计出现故 障情况下进行仿真验证。结果表明，将联邦滤波理论应用于惯导/北斗/里程计紧组合导 航系统可以提高导航性能和系统的容错能力。

Research of INS/Beidou/Odometer Tightly Integrated Navigation Algorithm Based on Federal Filter

A tightly integrated navigation algorithm of INS/Beidou/odometer based on federal filter is proposed aimed at the demand of the accuracy and reliability of the ground vehicle navigation system in complex circumstance. The error model and observation model of the integrated navigation system are established on the analysis of the characters of INS, Beidou and odometer. Federal filter is used to realize the design of tightly integrated fault-tolerant system. Subsystem trouble- free, beidou trouble and odometer trouble are validated in simulations. The results indicate that the navigation performance and the fault-tolerant capacity are enhanced by the application of federal filter in the integrated navigation of INS /Beidou/odometer.