第45卷第1期压电与声光Vol.45No.12023年2月PIEZOELECTRICS&ACOUSTOOPTICSFeb.2023收稿日期:2022-05-16基金项目:陕西省自然科学基础研究计划资助项目(2020JQ-491);陕西省高校科协青年人才托举计划项目(20200109)作者简介:李剑(1989-),男,山东省潍坊市人,硕士生,主要从事导航制导与仿真的研究。文章编号:1004-2474(2023)01-0124-06DOI:10.11977/j.issn.1004-2474.2023.01.023基于灰色马尔可夫预测的组合导航方法李剑1,汪立新1,白立伟2(1.火箭军工程大学导弹工程学院,陕西西安710025;2.火箭军工程大学作战保障学院,陕西西安710025)摘要:针对传统MEMS/GNSS组合导航在卫星信号差时长时间精准导航问题,提出了基于灰色马尔可夫预测的MEMS/GNSS组合导航方法。通过改进灰色预测,增加马尔可夫修正环节,预测当卫星信号差时的GNSS量测值,进而代替原量测值,并将结果进行抗差扩展卡尔曼滤波(EKF),克服噪声干扰影响,提高了系统的稳定性。经仿真和跑车实验验证,该组合导航方法在卫星信号差时仍能输出较高精度的导航结果,且可以较好地克服异常观测值对系统的影响。关键词:组合导航;灰色预测;扩展卡尔曼滤波(EKF);马尔可夫过程;MEMS中图分类号:U666.1;TN967.2文献标志码:AIntegratedNavigationMethodBasedonGreyMarkovPredictionsLIJian1,WANGLixin1,BAILiwei2(1.CollegeofMissileEngineering,RocketForceUniversityofEngineering,Xi’an710025,China;2.CollegeofCombatSupport,RocketForceUniversityofEngineering,Xi’an710025,China)Abstract:Aimingattheproblemoflong-termprecisionnavigationoftraditionalMEMS/GNSSintegratednavi-gationinthecaseofbadsatellitesignal,aMEMS/GNSSintegratednavigationmethodbasedongrayMarkovpredic-tionisproposedinthispaper.Thestabilityofthesystemisimprovedbyimprovingthegrayprediction,addingMarkovcorrectionlinks,predictingtheGNSSmeasurementvaluewhenthesatellitesignalispoor,andthenrepla-cingtheoriginalmeasurementvalue,andtheresultissubjecttorobustextendedKalmanfiltering(EKF)toover-cometheinfluenceofnoiseinterference.Thesimulationandsportscarexperimentsverifythattheintegratednaviga-tionmethodcanstilloutputhigh-precisionnavigationresultswhenthesatellitesignalispoor,andcanbetterover-cometheinfluenceofabnormalobservationsonthesystem.Keywords:integratednavigation;greypredictio...
