LIU Jin, MA Jie and TIAN Jinwen. CNS/Pulsar Integrated Navigation UsingTwo-level Filter[J]. Chinese Journal of Electronics, 2010, 19(2): 265-269.
Citation: LIU Jin, MA Jie and TIAN Jinwen. CNS/Pulsar Integrated Navigation UsingTwo-level Filter[J]. Chinese Journal of Electronics, 2010, 19(2): 265-269.

CNS/Pulsar Integrated Navigation UsingTwo-level Filter

  • Received Date: 2009-06-10
  • Rev Recd Date: 2009-11-01
  • Publish Date: 2010-04-05
  • To improve the position accuracy, a CNS
    (Celestial navigation system)/pulsar integrated navigation
    system with clock drift is proposed. In the pulsar navi-
    gation subsystem, the epoch-di®erence method is adopted
    to eliminate clock drift, but it induces colored noise. The
    two-level ¯lter, which is composed of an UKF (Unscented
    Kalman ¯lter) and an H1 ¯lter in series connected, is
    proposed for fusing the data from the celestial navigation
    and pulsar navigation subsystems. The celestial naviga-
    tion subsystem adopts the UKF because of its good perfor-
    mance in nonlinear estimation, while the pulsar navigation
    subsystem utilizes the H1 ¯lter due to its robustness to
    colored noise. Compared with CNS and two CNS/pulsar
    integrated navigation methods without two-level ¯lter, the
    proposed method can provide higher navigation accuracy.
    Simulation results show that the position estimation ac-
    curacy of the proposed method can achieve 140m in the
    presence of clock drift.
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