GPS/INS组合导航系统自适应滤波算法与仿真研究  

Research on adaptive filter algorithm and simulation for GPS/INS the integrated navigation

作　　者：黄晓瑞[1] 崔平远[1] 崔祜涛[1] 

机构地区：[1]哈尔滨工业大学航天工程与力学系,黑龙江哈尔滨150001

出　　处：《飞行力学》2001年第2期69-72,77,共5页Flight Dynamics

摘　　要：随着组合导航系统应用环境的日趋复杂 ,给噪声统计特性的准确描述带来困难 ,这将造成Kalman滤波器不稳定甚至发散。首先对目前解决此问题常用的自适应滤波方法进行了总结和分析 ,在此基础上 ,给出了基于滤波收敛性判据 ,结合 Sage-Husa自适应滤波和强跟踪 Kalman滤波的改进自适应滤波算法。最后以 GPS/ INS组合导航系统为例进行了计算机仿真 ,结果表明 :该算法可有效抑制滤波发散 。Due to the complexity the application circumstance,it is difficult to describe the noise statistics of integrated navigation system accurately This may cause the general Kalman filter unstability even divergence This paper present a modified adaptive filter algorithm to estimate states by combination of Sage Husa adaptive filter and strong tracking Kalman filter based on the summarize and analysis to the adaptive filter method in common use to solve this problem The computer simulation result for GPS/INS integrated navigation show that this method can restrain the divergence effectively and has better adaptive ability

关 键 词：全球定位系统 惯性导航系统 GPS/INS组合导航系统 Sage-Husa自适应滤波算法 计算机仿真 滤波发散 抑制 自适应能力 收敛性 强跟踪Kalman滤波 

分 类 号：V448.224[航空宇航科学与技术—飞行器设计]