自适应滤波算法在SINS/GPS组合导航系统中的应用研究  

Adaptive Filtering Algorithm for SINS/GPS Integrated Navigation System

作　　者：范科[1] 赵伟[1] 刘建业[1] 

机构地区：[1]南京航空航天大学导航研究中心,南京210016

出　　处：《航空电子技术》2008年第3期11-15,33,共6页Avionics Technology

摘　　要：以SINS/GPS组合导航系统为应用背景,对具有代表性的Sage自适应滤波和渐消卡尔曼滤波进行了研究,分析了这些方法在SINS/GPS组合导航应用中存在的问题,提出了适合工程应用的改进方法。改进的Sage自适应滤波主要对系统状态噪声协方差阵利用状态误差进行估计,更符合SINS/GPS组合导航系统的实际情况,提高了滤波稳定性。改进的渐消卡尔曼滤波采用矩阵因子的形式直接对状态预测协方差阵各分量进行不同程度的调节,使调节更趋合理。此外,改进算法增加了对观测粗差的处理,降低了观测粗差对滤波结果的影响。最后,用实际跑车试验验证了改进方法的有效性。Relevant improved adaptive filtering methods are proposed after studying and analysing the representative Sage adaptive filtering and fading Kalman filtering on the background of SINS/GPS integrated navigation. The improved Sage adaptive algorithm with stronger stability only estimates Q by using state error. And the improved fading filtering with higher precision adjusts the covariance matrix of state error directly by using matrix factor. In addition, the improved methods include measurement data processing. The reliability and validity of these improved methods are demonstrated through the practical test.

关 键 词：卡尔曼滤波 自适应滤波 自适应因子 组合导航 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]