一种新的IMU/GPS组合导航抗差渐消滤波算法  

A New Robust Fading Filtering Algorithm for Inertial Measurement Unit/Global Positioning System (IMU/GPS) Integrated Navigation

作　　者：项鑫[1] Xiang Xin(Geophysical Prospecting and Surveying Team, Henan Bureau of Coal Geology, Zhengzhou, Henan 450009)

机构地区：[1]河南省煤田地质局物探测量队

出　　处：《中国煤炭地质》2019年第8期81-84,共4页Coal Geology of China

摘　　要：当模型存在较大误差时,Kalman滤波存在发散现象,采用渐消因子虽可抑制模型误差的影响,但单个渐消因子难以取得理想效果。抗差估计理论为削弱异常误差影响提供了思路,采用无穷范数滤波与抗差估计相结合的方法可抑制滤波的发散,提高滤波器的稳定性。数据采集采用自行构建的IMU/GPS(Inertial Measurement Unit/ Global Positioning System)组合导航系统,为检验无穷范数滤波与抗差估计相结合稳定性及抗差性,设计了Kalman滤波、无穷范数滤波、多重渐消无穷范数滤波、抗差多重渐消滤波等4种滤波算法进行解算。结果表明:多重渐消无穷范数滤波、抗差多重渐消滤波算法均表现出更好的稳定性,能够有效抑制滤波器发散、抵抗异常误差的影响,提高滤波解算的精度。When larger errors exist in a model, the Kalman filtering will be existed diffusion phenomenon, although through fading factor can restrain impact from model error, but a single fading factor is hard to get ideal effect. The robust estimation theory has provided thoughts to weaken impact from anomalous differences. The method of combined infinite norm filtering and robust estimation can weaken filtering diffusion, promote filter stability. Data acquisition has used self-built IMU/GPS integrated navigation system. To check stability and robustness of the combination of infinite norm filtering and robust estimation have designed Kalman filtering, infinite norm filtering, multiple fading infinite norm filtering and robust multiple fading filtering 4 filtering algorithms carry out a solution. The result has shown that the multiple fading infinite norm filtering and robust multiple fading filtering algorithms all show better stability, can weaken filter diffusion, resist impact from anomalous differences and promote filtering solution accuracy effectively.

关 键 词：KALMAN滤波 无穷范数滤波 多重渐消无穷范数滤波 抗差多重渐消滤波 IMU/GPS 

分 类 号：P228[天文地球—大地测量学与测量工程]