北斗组合动态定位算法稳定性分析
doi: 10.3724/SP.J.1146.2006.00002
The Stability Analyse of BeiDou Integrated Dynamic Positioning Algorithm
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摘要: 该文针对北斗卫星定位系统和惯性导航系统提出组合导航卡尔曼滤波定位算法，对组合导航滤波算法的可控性、可观性进行了分析，并用数值分析方法从可观性定义出发分析了各个状态的可观测度，从稳定性的定义出发分析了组合算法的稳定性和渐进稳定性。由于双星时不能对钟差滤波，所以对滤波定位观测模型进行了改进，引入伪距率和惯性器件输出的加速度作为观测量。仿真表明改进方案大大提高了组合定位系统的工作稳定性，抗突发性误差的能力提高了一个数量级，而且双星的情况下可以对钟差滤波。Abstract: A Kalman filter positioning algorithm applied in BeiDou and INS integrated navigation system is proposed. Then, the observability, controllability and stability of integrated navigation filter algorithm is analyzed. The observability of every state is analyzed using method of numerical value analysis. Because the clock-error state can not be filtered, otherwise the algorithm may be divergence, we make improvement on the filter algorithm model, using the change rate of pseudo-ranges and INSs acceleration as observations. Finally, it is explained in emulation mode that our improved integrated navigation algorithm model can improve the running stability of integrated navigation system effectively, its ability of resisting outburst error is enhanced effectively, and the clock-error state can be filtered even when the original location error is up to 13000 meter.
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