组合导航系统的卡尔曼滤波器的设计  

The Design of Kalman Filter on Integrated Navigation System

作　　者：杨坤明[1] 

机构地区：[1]西华大学数学与计算机学院,四川成都610039

出　　处：《西华大学学报（自然科学版）》2005年第4期86-88,共3页Journal of Xihua University:Natural Science Edition

摘　　要：将多传感器数据融合的卡尔曼滤波器设计方法,运用在基于GPS/INS的微型飞行器的组合导航系统中,经理论分析及实际结果表明:该滤波器设计合理,算法具有全局最优,能够提高系统的容错能力及系统的导航精度。A general method to design Kalman filter based on multi-sensor data integration is introduced in detail in this paper, and it is used in the combination navigation of MAV grounded on GPS/INS. Theory analyzing and actual result have shown that the filter is reasonable, and its algorithm is globally optimal in addition, the fault-tolerant capability and navigation accuracy can be greatly improved in the system.

关 键 词：组合导航 GPS/INS 卡尔曼滤波器 

分 类 号：TN966[电子电信—信号与信息处理]