Sage_Husa自适应滤波算法在捷联组合导航系统中的应用  

Application of Sage_Husa Adaptive Filter to Integrated Navigation System

作　　者：梁松 徐晓苏[1] 黄永亮[2] 

机构地区：[1]东南大学微惯性仪表与先进导航技术教育部重点实验室,江苏南京210096 [2]哈尔滨理工大学测控技术与通信工程学院,黑龙江哈尔滨150080

出　　处：《测试技术学报》2011年第4期327-331,共5页Journal of Test and Measurement Technology

基　　金：国家自然科学基金项目(60874092;50575042);航空科学基金项目(20080869009)

摘　　要：以组合导航系统为应用背景,在现有方法的基础上,提出Sage_Husa自适应滤波算法的应用.采用常规卡尔曼滤波时,需要知道系统的数学模型和噪声统计的先验知识,但是在实际系统中,系统的数学模型和噪声统计是未知的、近似的或部分已知的.用不准确的模型或噪声统计设计出的卡尔曼滤波器将导致状态估值误差增大,甚至使滤波发散.Sage_Husa自适应滤波通过软件仿真表明该方法能够使系统误差在较短的时间内收敛,与常规卡尔曼滤波器的精度相当并具有高效率、高精度等优点.In view of the application of integrated tive filter algorithm based on the existing methods. navigation system, the paper presents a Sage _ Husa adap- The pre-knowledge of system mathematic model and noise statistic was required when using Kalman filter, but they were unknown, approximate or known partly in ac- tual system. The estimated error value of system state was increased when an inaccurate model and statistic of noise were applied. The simulation results show that the Sage _ Husa adaptive filter has high convergence speed, high effectiveness and accuracy and its precision is similar to that of conventional Kalman filter.

关 键 词：组合导航 自适应滤波 数学模型 噪声统计 Sage_Husa 

分 类 号：U666.1[交通运输工程—船舶及航道工程]