基于RT-LAB的组合导航仿真平台设计

设计了一种基于RT-LAB的SINS/GPS/CNS（Strapdown Inertial Navigation System/Global Positioning System/Celestial Navigation System）组合导航系统仿真平台方案，建立具有故障检测、隔离和系统重构能力的基于联邦卡尔曼滤波器的姿态、位置、速度组合导航系统方案和结构.将SINS与GPS的位置之差和速度之差作为SINS/GPS子滤波器的观测量，通过CNS给出的载体惯性姿态信息获得SINS的姿态误差角测量信息.仿真结果表明，该系统方案具有较强的容错性能、较高的导航精度和很强的实时性能，为组合导航技术的研究提供了有益的参考.

Design of integrated navigation system simulation platform based on RT-LAB

A strapdown inertial navigation system/global positioning system/celestial navigation system(SINS/GPS/CNS) simulation platform based on RT-LAB was designed. Based on attitude, position and velocity, the integrated navigation system solution with federated Kalman filter has the capability of fault detection, isolation and system reconfiguration. The SINS/GPS sub-filter observations are the difference of position and velocity. And the inertial attitude information of carrier was given by CNS, therefore the attitude error measurement of SINS was obtained. Simulation results show that the solutions have the stronger fault tolerant performance and higher navigation accuracy and the stronger real-time performance. The work is valuable for the research of related techniques in integrated navigation system.