INS/GPS紧耦合组合导航系统抗差定位算法  

Algorithm of robust estimation for tightly coupled INS/GPS integration

作　　者：费恒敏[1,2] 施琴[1] 田俊杰[1] 

机构地区：[1]解放军理工大学理学院 [2]解放军96512部队

出　　处：《微型机与应用》2015年第7期20-23,26,共5页Microcomputer & Its Applications

基　　金：解放军理工大学理学院青年科研基金(LYQNJJ17)

摘　　要：建立了INS(Inertial Navigation System)/GPS紧耦合组合导航系统,针对测量粗差对系统定位结果的影响,将抗差估计理论应用于非线性滤波算法,提出了基于等价权原理的抗差UKF定位算法。加入模拟粗差进行实验,结果表明,观测量异常时,抗差UKF算法能成功探测和剔除观测量粗差,实现定位结果的有效估计。Tightly coupled INS/GPS integration navigation system of robust estimation for nonlinear filtering was proposed to eliminate that the UKF of robust estimation can get a good experimental result was constructed. A UKF based on equivalent weighting theory the effect of observed outliers. Simulation with outliers showed by detecting and eliminating observed outliers.

关 键 词：惯性导航 全球定位系统 抗差估计 卡尔曼滤波 

分 类 号：TB561[交通运输工程—水声工程]