组合导航系统非线性滤波算法综述  

Overview of nonlinear filter methods applied in integrated navigation system

作　　者：赵琳[1] 王小旭 丁继成[1] 曹伟 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《中国惯性技术学报》2009年第1期46-52,58,共8页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(60474046);高等学校博士学科点专项科研基金资助(20040217008)

摘　　要：总结了组合导航系统具有非线性及模型不确定性的特点,指出了现阶段工程中的卡尔曼滤波及扩展卡尔曼滤波无法真正满足组合导航系统的实际应用要求;然后,以组合导航系统为背景,详细介绍近20年来非线性滤波理论所取得的成果,且阐述了它们的优缺点及在组合导航系统中的应用情况;接着分析了现阶段组合导航系统中滤波算法的新发展,最后对组合导航系统滤波算法进行展望,指明其进一步的可能研究方向。Firstly, the paper summarized that the integrated navigation system is nonlinear and has the character of mode uncertainty, while the Kalman filter（KF） and the extended Kalman filter（EKF） in the integrated navigation system don＇t completely meet the practical application demands at present. Then some classically nonlinear filter methods in the past two decades are all introduced in detail. Their advantages and disadvantages, and their application situation in integrated navigation system are summed up. Some new developments of the filter methods in integrated navigation system nowadays is analyzed. Finally, further research directions in this field are pointed out.

关 键 词：组合导航系统 滤波算法 非线性 模型不确定性 综述 

分 类 号：U666.1[交通运输工程—船舶及航道工程]