| 摘要: |
| 卫星/微机电惯性组合导航系统具有体积小、成本低等优点，可以为动中通天线提供位置、速度以及姿态信息，然而其无法依靠自身完成航向初始化，除此之外在静态场景下由于航向可观测性较差，面临航向发散的问题。结合动中通天线的特征，设计并开发了一种应用于动中通天线的组合导航算法。通过该算法得到的跑车测试结果北向、东向以及天向的位置信息精度分别为2.1 m、1.9 m及1.7 m，北向、东向以及天向的速度精度分别为0.05 m/s、0.05 m/s、0.04 m/s，横滚角、俯仰角、航向角精度依次为 0.05°、0.08°、0.11°。长时间的摇摆台测试结果表明采用该方案场强跟踪信号强度均值为8.93 dBW，信号跟踪平稳。 |
| 关键词: 动中通 组合导航 动态测姿 扩展卡尔曼滤波(EKF) |
| DOI：10.20079/j.issn.1001-893x.220421003 |
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| 基金项目:国家重点研发计划（2021YFB3202300） |
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| Design of an integrated navigation algorithm for low-cost Satcom-On-The-Move antennas |
| WANG Qingjiang |
| (Hebei MT Microsystems Co.,Ltd.,Shijiazhuang 050051,China) |
| Abstract: |
| The Global Navigation Satellite System/ Micro-electro-mechanical Inertial Navigation System(GNSS/MINS) integrated navigation system has advantages such as small-sized and low-cost,which can provide position,velocity and attitude information for Satcom-On-The-Move antennas.However,the system cannot finish initialization by itself and the heading information may drift due to the poor observability in static environment.According to the characteristics of Satcom-On-The-Move antennas,an integrated navigation algorithm suitable for Satcom-On-The-Move antennas is designed.The van test results by the algorithm show that the northward,eastward and upward position accuracy is 2.1 m,1.9 m and 1.7 m,respectively,the northward,eastward and upward speed accuracy is 0.05 m/s,0.05 m/s and 0.04 m/s,respectively,and the accuracy of roll,pitch and yaw angle is 0.05°,0.08°,0.11 °,respectively.The results of long-term test in shaking environment show that the average strength of signal tracking using this algorithm is 8.93 dBW,and the signal tracking is stable. |
| Key words: Satcom-On-The-Move integrated navigation dynamic attitude measurement extended Kalman filter(EKF) |
