gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.0001gyroscopy-253Research ArticleСтатьиСравнительный анализ алгоритмов комплексирования в слабосвязанной инерциально-спутниковой системе на основе обработки реальных данныхComparative Analysis of Fusion Algorithms in a Loosely-Coupled Integrated Navigation System on the Basis of Real Data ProcessingАль БитарН.Al BitarN.

Аль Битар Надер. Аспирант кафедры «Системы автоматического управления»

ГавриловА. И.GavrilovA. I.

Гаврилов Александр Игоревич. Кандидат технических наук, доцент кафедры «Системы автоматического управления»

МГТУ им. Н.Э. Баумана (Москва).РоссияBauman Moscow State Technical University, Moscow, RussiaRussian Federation2019171120252733152Copyright © Аль Битар Н., Гаврилов А.И., 20252025Аль Битар Н., Гаврилов А.И.Al Bitar N., Gavrilov A.I.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/253

В статье выполнен сравнительный анализ эффективности применения расширенного фильтра Калмана (ФК) и сигма-точечного ФК в задаче интеграции БИНС/СНС на основе слабосвязанной схемы комплексирования. Использованы полные стохастические модели измерений инерциальных датчиков на базе МЭМС-технологии. Проверена эффективность расширенного ФК и сигма-точечного ФК на основе реальных экспериментальных данных для сложного движения, полученных с использованием БИНС на базе МЭМС-технологии и приемника СНС с двойной антенной. Произведена оценка точности определения навигационных параметров с использованием алгоритмов расширенного ФК и сигма-точечного ФК при наличии и отсутствии сигнала СНС. Приведены результаты статистического анализа погрешностей оценивания навигационных параметров для разных периодов отключений сигнала СНС.

The paper presents a comparative analysis of the extended Kalman filter (EKF) and the sigma-point Kalman filter (SPKF) applied to solve the problem of SINS/GNSS integration based on a loosely-coupled integration scheme. Complete stochastic measurement models of MEMS inertial sensors are considered. The efficiency of the EKF and the SPKF is evaluated using real experimental data on complex motion from an SINS based on MEMS technology and a GNSS receiver with a double antenna. The estimation accuracy of navigation parameters using the EKF and the SPKF in the presence of the GNSS signal and during the GNSS outages is analyzed. The results of the statistical analysis of the errors in estimating navigation parameters for different periods of GNSS signal outage are considered.

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The authors declare that there are no conflicts of interest present.