基于非线性观测器的导航过程仿真研究

doi:10.16182/j.issn1004731x.joss.20-0717

系统仿真学报 ›› 2022, Vol. 34 ›› Issue (5): 1127-1139.doi: 10.16182/j.issn1004731x.joss.20-0717

基于非线性观测器的导航过程仿真研究

王志伟^1,²(), 胡继宗¹, 王风杰³, 黄杰²()

^1.武警部队项目管理中心，北京　100161
^2.武警工程大学，陕西　西安　710086
^3.陕西华阴63870部队，陕西　华阴　714200

收稿日期:2020-09-18 修回日期:2020-11-20 出版日期:2022-05-18 发布日期:2022-05-25
通讯作者: 黄杰 E-mail:wzw505869351@126.com;fktj2019@163.com
作者简介:王志伟（1990-），男，博士，研究方向为惯性导航。E-mail：wzw505869351@126.com
基金资助:
国防预研基金(9140A09040112JB34111);国家自然科学基金(20171141401520)

Simulation of Navigation Process Based on Nonlinear Observer

Zhiwei Wang^1,²(), Jizong Hu¹, Fengjie Wang³, Jie Huang²()

^1.Project Management Center of PAP, Beijing 100161, China
^2.Engineering University of PAP, Xi’an 710086, China
^3.Unit 63870 of PLA, Huayin 714200, China

Received:2020-09-18 Revised:2020-11-20 Online:2022-05-18 Published:2022-05-25
Contact: Jie Huang E-mail:wzw505869351@126.com;fktj2019@163.com

摘要/Abstract

摘要：

为解决传统观测器使用范围受假设条件限制的问题，在观测器建立过程中，设计了一种参数投影关系，并加入到观测器中，在不受假设条件约束的条件下使其保持半全局稳定，同时估计过程更加直接，使得非线性条件下的参数估计过程较快收敛。仿真结果表明，非线性观测器的计算量要比乘性扩展卡尔曼滤波减少了近80%。试验结果表明，非线性观测器的估计精度与乘性扩展卡尔曼滤波相当，并且可以有效提高参数估计的实时性，节约了时间，提高了导航效率。

关键词: 捷联惯性导航, 半全局一致指数稳定, 非线性观测器, 卫星辅助导航, 乘性扩展卡尔曼滤波

Abstract:

In order to solve the problem that the scope of using thetraditional observers is limited by assumptions, in the process of establishing the observer, a parameter projection relationship is designed and added to the observer to keep it under the condition of not being constrained by the assumptions. It is semi-globally stable, and the estimation process is more direct, which makes the parameter estimation process under nonlinear conditions converge faster. The simulation results show that the computational complexity of the nonlinear observer is reduced by nearly 80% compared with the multiplicative extended Kalman filter. The experimental results show that the estimation accuracy of the nonlinear observer is comparable to that of the multiplicative extended Kalman filter, and it can effectively improve the real-time performance of parameter estimation, save time, and improved navigation efficiency.

Key words: strapdown inertial navigation system (SINS), semi-global uniform exponential stability, nonlinear observer (NOB), global navigation satellite system (GNSS) aided navigation, multiplicative extended Kalman filter

中图分类号:

TP391.9

王志伟, 胡继宗, 王风杰, 黄杰. 基于非线性观测器的导航过程仿真研究[J]. 系统仿真学报, 2022, 34(5): 1127-1139.

Zhiwei Wang, Jizong Hu, Fengjie Wang, Jie Huang. Simulation of Navigation Process Based on Nonlinear Observer[J]. Journal of System Simulation, 2022, 34(5): 1127-1139.

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非线性观测器	乘性扩展卡尔曼滤波		NOB(无延时)		NOB(有延时)
非线性观测器	乘法运算量	加法运算量	乘法运算量	加法运算量	乘法运算量	加法运算量
姿态观测器(参数估计390 Hz)	78 000	97 500	7 020	4 290	7 020	4 290
姿态观测器(反馈修正390 Hz)	77 220	73 320	52 260	39 000	52 260	39 000
姿态观测器(增益计算390 Hz)	140 400	131 040	–	–	–	–
组合观测器(参数估计5 Hz)	10 035	9 525	10 035	9 525	10 035	9 525
组合观测器(反馈修正5 Hz)	7 575	7 175	7 575	7 175	7 575	7 175
组合观测器(增益计算5 Hz)	4 100	4 925	4 100	4 925	4 100	4 925
时间延迟补偿器(390 Hz)	–	–	–	–	18 330	46 020
总量	317 330	323 485	80 990	64 915	99 320	110 935

基于非线性观测器的导航过程仿真研究

Simulation of Navigation Process Based on Nonlinear Observer

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