后向平滑容积滤波算法处理与分析组合导航数据  

GPS/IMU Data Processing and Analysis with Back Smoothing and CKF Filtering Algorithm

作　　者：燕欢 郭杭[1] Marcin URADZINSKI 熊剑[1] Jacek RAPI SKI 洪海斌[1] 

机构地区：[1]南昌大学,南昌330031 [2]University of Warmia and Mazury in Olsztyn

出　　处：《导航定位学报》2015年第1期83-87,共5页Journal of Navigation and Positioning

基　　金：国家自然科学基金(41164001;41374039)

摘　　要：通过研究采用经过改进的容积卡尔曼滤波算法,结合后向平滑滤波的思想联合解算全球定位系统/惯性导航系统数据。两次车载实验在波兰进行,分别是波兰研发的惯性传感器/单频全球定位系统和国产双频双模全球定位系统/惯导组合导航系统与差分全球定位系统数据比较的车载实验。并将实验得到的数据进行如下处理:其一是将单频全球定位系统/惯导联合解算后的结果,与差分全球定位系统数据进行对比;其二是用国产组合导航系统解算结果与差分数据结果进行对比。经处理后发现,低精度的单频全球定位系统/惯导解算的结果,用后向平滑容积卡尔曼滤波算法处理后精度得以提高,达到了中等精度的国产组合导航系统同样的精度。这个结论证明后向平滑滤波结合容积卡尔曼滤波是解算车载组合导航数据的有效方法。Using the combined volume backword smoothing Kalman filter（CKF）algorithm for processing vehicle navigation data,the result accuracy is higher than that of using the Kalman filter forward only.In this paper,GPS/IMU data come from two vehicle experiments conducted in Poland,namely LEI and ADIS integrated system（single frequency GPS/IMU）,XW-ADU5660（double frequency GPS,GLONASS/IMU）compared with the differential GPS car experiments.And experimental data obtained are processed as follows：one is the result of LEI GPS and ADIS IMU compared with the results of differential GPS positioning data;the other is XW-ADU5660 results compared with differential GPS.The results show that low accurate LEI and ADIS integrated system with the backword CKF smoothing filter algorithm reached the same level of medium accurate navigation instrument XW-ADU5660.

关 键 词：后向平滑滤波 容积卡尔曼滤波 惯性导航系统 差分定位 

分 类 号：P228[天文地球—大地测量学与测量工程]