基于序贯自适应滤波的SINS/GPS组合导航方法  

SINS/GPS integrated navigation method based on adaptive filtering with sequential structure

作　　者：王毓珺 WANG Yu-jun(Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学

出　　处：《电子设计工程》2019年第17期80-84,88,共6页Electronic Design Engineering

摘　　要：针对SINS/GPS组合导航系统中,Kalman滤波由于模型不够准确,观测噪声不规则变化等容易发散的问题,采用了一种基于序贯结构的Sage-Husa自适应滤波算法,通过量测输出实时估计系统的噪声参数,以解决因先验知识不足而引起滤波发散的问题,抑制异常量测对导航解算的影响。通过对SINS/GPS组合导航系统的仿真,验证了该算法具有较好的自适应性和稳定性,提高了滤波精度。In SINS/GPS integrated navigation system,Kalman filter is easy to diverge due to inaccurate model and irregular change of observation noise. To solve this problem,a sequential structure-based Sage-Husa adaptive filtering algorithm is proposed. The method can estimate the noise parameters of the system in real time by the measured information,so as to solve the problem of filtering caused by insufficient prior knowledge, it can also inhibit the abnormal measurement effect on navigation settlement. The simulation of SINS/GPS integrated navigation system proves that the algorithm has good adaptability and stability,and improves the filtering accuracy.

关 键 词：SINS/GPS组合导航 Sage-Husa自适应滤波 序贯结构 信息融合 

分 类 号：TN713[电子电信—电路与系统]