改进的Sage-Husa自适应算法及应用  

Improved Sage-Husa Adaptive Algorithm and its Application

作　　者：邓洪高[1] 马海淘 纪元法[1] 孙希延[1] DENG Hong-gao;MA Hai-tao;JI Yuan-fa;SUN Xin-yan(Guilin University of Electronic Technology,Guilin Guangxi 541004,China)

机构地区：[1]桂林电子科技大学,广西桂林541004

出　　处：《计算机仿真》2023年第2期19-23,共5页Computer Simulation

基　　金：国家自然科学基金(61561016,61861008);广西科技重大专项基金(AC16380014,AA17202048,AA17202033,AA17204002);广西自然科学基金青年科学基金项目(2019GXNSFBA245072);桂林电子科技大学研究生教育创新计划资助项目(2020YCxs027)。

摘　　要：针对标准卡尔曼滤波和Sage-Husa自适应卡尔曼滤波不能同时满足实时在线估计状态量测噪声阵和抑制滤波发散的问题,提出一种改进的Sage-Husa自适应卡尔曼滤波算法。在检测到量测异常时,在协方差匹配技术的最严格收敛判断条件,计算出次优滤波方法中新的状态估计均方误差阵的加权系数,通过新的状态估计均方误差阵对原来的状态估计均方误差阵进行修正,能有效抑制滤波器的发散。提高实际应用中,Sage-Husa自适应卡尔曼滤波算法在复杂不稳定环境中的稳定性与可靠性。将改进的算法放在BDS/INS系统中进行实验验证,实验结果表明,相比常规Sage-Husa自适应滤波算法,改进的Sage-Husa自适应卡尔曼滤波算法改善了上述系统的可靠性和自适应能力,最终有效的提高组合导航系统的性能。Aiming at the problem that the standard Kalman filter and Sage-Husa adaptive Kalman filter cannot satisfy the real-time online state measurement noise matrix and suppress filter divergence at the same time,an improved Sage-Husa adaptive Kalman filter algorithm is proposed.When the measurement abnormality is detected,in the most stringent convergence judgment condition of the covariance matching technology,the weighting coefficient of the new state estimation mean square error matrix in the sub-optimal filtering method is calculated,and the original state estimation mean-square error matrix is compared with the original.The state estimation mean-square error matrix is corrected,which can effectively suppress the divergence of the filter.The algorithm can improve the stability and reliability of the Sage-Husa adaptive Kalman filter algorithm in complex and unstable environments in practical applications.The improved algorithm was put in the BDS/INS system for experimental verification.The experimental results show that compared with the conventional Sage-Husa adaptive filter algorithm,The improved Sage-Husa adaptive Kalman filter algorithm effectively improves the reliability and adaptive ability of the system.Finally,it effectively improves the performance of the integrated navigation system.

关 键 词：组合导航 自适应滤波 次优滤波 加权系数 

分 类 号：TN967.2[电子电信—信号与信息处理]