基于Sage-husa自适应滤波算法的AUV组合导航系统设计

摘要

This paper mainly puts forward a new type of based on strapdown inertial navigation system (SINS)and GPS integated navigation system design scheme,Strapdown inertial navigation system is the main system,together with a GPS reset strapdown inertial navigation system,The kalman filter model for the system is built up,design Kalman filter algorithm with output correction indirect method and Kalman filter algorithm using sage-husa self-adaption to SINS/GPS integrated navigation system,The simulation results reveal that due to the GPS position and speed the introduction of information,to a certain extent,overcome the strapdown inertial navigation system error state divergent phenomenon,To improve the navigation accuracy.at the same time through the two algorithm's contrast,sage-husa adaptive kalman filtering algorithm has higher filtering accuravy and stability,can better meet the requirements of long distance navigation.%文中针对水下自主航行器提出了一种新型的基于捷联惯导(SINS)和GPS的组合导航系统设计方案.该方案以捷联惯导作为主系统,同时利用GPS重调捷联惯导系统,建立了该组合导航系统的卡尔曼滤波模型,设计了输出校正间接法的卡尔曼滤波算法和Sage-husa自适应卡尔曼滤波算法.仿真结果表明由于GPS位置和速度信息的引入,一定程度上克服了捷联惯导系统误差状态发散现象,提高了导航精度.同时通过两种算法的对比,Sage-husa自适应卡尔曼滤波算法则具有更高的滤波精度和稳定性,能够更好的满足长时间远距离导航的要求.