针对军用车辆卫星定位信号易受遮挡的问题,基于差速里程仪推导了三维条件下的无陀螺航位推算算法,建立了系统状态方程和观测方程,并利用残差预报方法改进Sage-Husa自适应滤波,提高系统定位精度,仿真结果表明,系统精度满足短时定位要求,能够作为复杂地形条件下军用车载卫星定位系统的有效补充,且取消了惯导元件,提高了系统可靠性。

To solve the vehicle positioning problem caused by signal missing of satellite system, three-dimensional dead reckoning (DR) algorithm using differential odometer was given out based on gyroscope-free idea. After station equation and observation equation, improved Sage-Husa adaptive filter was adopted to raise the position precision by residual prediction. The simulation result shows that the system precision can meet the demand of positioning in short time and to be the auxiliary system of satellite position system in complex land form. The three-dimensional DR algorithm improves the system reliability for missing use of inertial navigation element.