摘要北斗2/惯性组合导航系统以捷联惯性导航系统为基础，与北斗二代卫星导航系统进行组合，结合了两者的优点。研究北斗2/惯性组合导航系统避免了完全依赖GPS受制于人的致命弱点,对我国的国防建设和经济发展具有重大意义。本毕设源于某重点国防项目，主要进行北斗2/惯性组合导航信息融合算法设计。通过设置丢星和不丢星情况，比较它们在常规卡尔曼滤波算法下的影响；通过给出不同的初始对准误差分析对仿真结果的影响；通过设置不同的初始噪声研究卡尔曼滤波对初值敏感性的影响。最后综合进行分析比较，便于今后的研究。65310

毕业论文关键词：北斗二代、捷联惯导、组合导航、卡尔曼滤波、渐消自适应

毕业设计说明书（论文）外文摘要

Title   A new design of BD-2/SINS Integrated Navigation   

          information fusion algorithm                      

Abstract

BD-2/SINS integrated navigation system is on the basis of SINS navigation system, which combines SINS navigation system with BD-2 navigation satellite system and combines the advantages of both. Therefore BD-2/SINS system can avoid the fatal weakness that the GPS is completely depended on The United States and is of great significance to the national defense construction and economic development.This project comes from some key defense project, which mainly research on the design of BD-2/SINS integrated navigation information fusion algorithm . By setting the noise mutations we compare the conventional filtering and the fading adaptive filtering . By giving different initial alignment error we analyze the impact on the simulation results . By setting different initial noise we research on the  influence of kalman filtering to the initial value sensitivity . Finally we analyze and talk with the advantages and disadvantages of the fading adaptive filtering. All these are for the better engineering research in the future.

Keywords  BD-2，SINS，integrated navigation，kalman filtering，fading adaptive filtering

目  次

1  绪论 1

1.1  论文研究背景及意义 1

1.2  国内外发展及研究现状 2

1.3  论文主要研究内容 3

1.4  论文结构安排 3

2  捷联惯性导航系统（SINS） 5

2.1  捷联惯性导航系统原理 5

2.2  具体算法 5

2.3  本章小结 10

3  卡尔曼滤波技术 11

3.1  常规卡尔曼滤波方程 11

3.2  渐消自适应卡尔曼滤波方程 13

3.3  卡尔曼滤波器的优点 14

3.4  本章小结 14

4  BD-2/SINS组合导航系统建模 15

4.1  位置、速度松组合方式 15

4.2  间接法反馈校正 15

4.3  位置速度组合系统建模 16

4.4  反馈校正的实现 19

4.5  本章小结