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提出了偏振光/GPS/SINS组合导航方法。推导了偏振光辅助测姿原理并进行了仿真验证。提出了多模块改善能观度的方法。采用联邦卡尔曼滤波方法实现了组合导航算法,利用Matlab仿真方式分别对使用单偏振光模块和多偏振光模块的组合导航系统的测姿修正效果和能观度改善效果进行了检验。结果表明偏振光辅助测姿方法的引入能够大大改善导航系统的能观度和精度,非平行观测的多偏振光模块可以进一步提高系统性能。
A polarized light / GPS / SINS integrated navigation method is proposed. The principle of polarization-assisted attitude measurement is derived and verified by simulation. A multi-module method to improve the observability is proposed. The federated Kalman filter method is used to realize the combined navigation algorithm. The Matlab-based simulation is used to test the effect of attitude correction and the improvement of observability of the integrated navigation system using single polarization and multi-polarization modules respectively. The results show that the introduction of polarization-assisted attitude measurement can greatly improve the visibility and accuracy of the navigation system, and the non-parallel observation of the multi-polarization module can further improve the system performance.