一种实时自适应卡尔曼滤波技术在GPS导航系统中的应用  

Application of A Real-Time Adaptive Kalman Filtering Technology in GPS

作　　者：王妙[1] 陈高平[1] 

机构地区：[1]空军工程大学工程学院,西安710038

出　　处：《弹箭与制导学报》2005年第S3期136-138,共3页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：基于卡尔曼滤波的理论,将GPS定位中的各种误差源在各方向造成的总误差等效为一个当前均值与一个符合一阶马尔可夫过程的有色噪声之和,建立线性卡尔曼滤波摸型。为了避免滤波发散,文中采用一种修正的自适应卡尔曼滤波算法。仿真结果证明:该算法具有稳定好,效率高,精度高的特性,克服了发散的缺点,具有很强的自适应性。This paper is based on the theory of Kalman filtering and the linear adaptive Kalman filter model is built on the basis that the various errors caused by different error sources can be equivalent to the total errors of positioning result from the GPS receiver.To avoid filtering divergence,this paper brings a modified adaptive Kalman filtering algorithm.The result of computer simulation shows that the algorithm is stable,effective and accurate.

关 键 词：自适应卡尔曼滤波器 GPS 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]