量测噪声自动加权Kalman滤波  

MESUREMENT NOISE AUTOMATIC WEIGHT KALMAN FILETR

作　　者：沈云锋[1] 朱海[1] 

机构地区：[1]海军潜艇学院电航室,山东青岛266071

出　　处：《青岛大学学报（工程技术版）》2002年第1期1-5,共5页Journal of Qingdao University(Engineering & Technology Edition)

摘　　要：:从Kalman滤波技术的稳定性出发 ,分析了Kalman滤波算法的实质及容易发散的原因。提出在Kalman滤波中引入系统量测噪声协方差阵 (R)的计算 ,并对其加权 ,从而影响滤波增益 ,抑制发散。推算舰位From the stability of Kalman filter,the essence of Kalman filter and the reasons of the instability of Kalman filter are analyzed.The calculation of measurement noise covariance(R)is added to the normal Kalman filter.R is weighted then influences the filter plus to overcome the instability of filter.The simulation of reckoning/GPS integrated navigation system shows the measurement noise automatic weight algorithm is self adaptive to the error of model and measurement noise covariance.

关 键 词：卡尔曼滤波 量测噪声 加权 量测噪声协方阵 舰位 GPS组合导航 

分 类 号：TN713[电子电信—电路与系统]