基于IMM-PF的惯性/地磁组合导航算法  

INERTIAL/GEOMAGNETIC INTEGRATED NAVIGATION ALGORITHM BASED IMM-PF

作　　者：柳明[1,2] 王海军[2] 

机构地区：[1]山东省高校航空信息与控制技术重点实验室,滨州256603 [2]滨州学院航空信息技术研发中心,滨州256603

出　　处：《大地测量与地球动力学》2012年第5期82-85,共4页Journal of Geodesy and Geodynamics

基　　金：山东省科技发展计划项目(2011GGA16054);滨州学院博士学位人员科研启动费项目(2009Y04)

摘　　要：根据惯性/地磁组合导航系统中系统噪声不确定问题建立了系统的非线性模型集,并采用粒子滤波(PF)作为IMM匹配滤波器(IMM-PF算法),直接使用非线性的观测方程,避免了线性化误差,解决了系统噪声不确定的问题。仿真结果表明,与传统EKF算法相比,IMM-PF算法在系统噪声不确定情况下可自动调整系统模型,保证系统快速收敛,提高了导航精度。The problem of nonlinearity and system noise uncertainty in the inertial and geomagnetic integrated navigation systems seriously affected the navigation accuracy of the systems.For solving the problem,Firstly,nonlinear model set of the system is established aming the system noise uncertainty,and the model set should cover a variety of noise conditions.Secondly,the Particle Filter（PF） is used as the IMM matched filter.Thus IMM-PF algorithm is proposed,and the non-linear equations can be used directly in this algorithm.The simulation results show that,compared to conventional EKF algorithm,in the condition of system noise uncertainty,IMM-PF algorithm can automatically adjust the system model,can guarantee the convergence of the system quickly,and can improve the navigation accuracy.

关 键 词：组合导航 IMM 粒子滤波 非线性 系统噪声 

分 类 号：P207[天文地球—测绘科学与技术]