GPS/INS组合导航系统中的信息融合算法研究  

Study on Information Fusion Technology in GPS/INS Integrated Navigation System

作　　者：许丽佳[1] 陈阳舟[1] 崔平远[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100022

出　　处：《计算机仿真》2004年第5期20-23,19,共5页Computer Simulation

基　　金：863基金资助子项目课题(KL0202200201)

摘　　要：该文以GPS/INS组合导航系统为应用背景,对系统的模型建立进行详细的介绍,针对当前应用于其中的Kalman滤波法,它对量测噪声模型变化不能很好进行最优估计的缺点,引入了模糊自适应理论,实时地在线修正新息协方差值,以改善滤波器的性能,提高组合导航系统精度,并且还介绍了野值检测和处理方法。最后进行实时仿真,经仿真结果表明该方法是有效的。Based on the GPS/INS integrated navigation system, the paper gives a detailed introduction to how to build model for system. In order to resolve the problem with the applied traditional Kalman filter which can not deal well with the time-varying noise model and so can't give the best estimation, a fuzzy adaptive filter is introduced. It can correct the covariance of residuals on line, thus improving the performance of the regular Kalman filter and enhancing the positioning accuracy of the integrated navigation system. A new way is also presented in order to detect the outliers and handle them well. At last the simulation results proved the validity of the new method.

关 键 词：组合导航 信息融合 卡尔曼滤波 模糊自适应控制器 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]