联邦卡尔曼滤波在SINS／GNSS／数字罗盘组合导航系统中的应用  

Federal Filtering Algorithm Application in SINS/GNSS/Digital Compass Integrated Navigation System

作　　者：张果[1] 

机构地区：[1]中国电子科技集团公司第20研究所,西安710068

出　　处：《导航》2008年第2期25-29,共5页

摘　　要：针对SINS／GNSS／数字罗盘组合导航系统的特点，设计了用于该系统的联邦卡尔曼滤波器。该滤波器具有全局最优性，其结构遵循信息分配原则，其算法改善了数值计算的稳定性。理论分析及试验结果表明，该联邦卡尔曼滤波器满足系统的定位导航精度，且在实际应用中方法可行。A federated Kalman filter is designed aiming at the characteristic of SINS/GNSS/digital compass integrated navigation system. The federated Kalman filter has the global optimality. Its construct follows the information sharing principle and its algorithm improves the stability of numerical computation. The theoretical analysis and test result prove that the federated Kalman filter can meet the positioning accuracy of the integrated navigation system and is feasible in practical application.

关 键 词：捷联惯性导航系统 GNSS 数字罗盘 联邦卡尔曼滤波 信息分配 

分 类 号：TN967.2[电子电信—信号与信息处理]