基于测量特性的GNSS/SINS组合导航改进自适应SRCKF算法  

Improved adaptive SRCKF algorithm for GNSS/SINS integrated navigation based on measurement characteristics

作　　者：贾小林[2] 卢文韬 滕月昊 杜彦君 严祥高 Xiaolin;LU Wentao;TENG Yuehao;DU Yanjun;YAN Xianggao(College of Geological Engineering and Geomatics,Chang’an University,Xi’an 710054,China;Xi’an Research Institute of Surveying and Mapping,Xi’an 710054,China;College of Geomatics,Xi’an University of Science and Technology,Xi’an 710054,China)

机构地区：[1]长安大学地质工程与测绘学院,西安710054 [2]西安测绘研究所,西安710054 [3]西安科技大学测绘科学与技术学院,西安710054

出　　处：《中国惯性技术学报》2023年第4期327-334,共8页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(41874041)。

摘　　要：针对容积卡尔曼滤波(CKF)在GNSS/SINS组合导航中协方差矩阵非正定导致Cholesky分解失败以及无法对GNSS测量噪声进行自适应估计的问题,提出一种基于测量特性的GNSS/SINS组合导航改进自适应SRCKF算法。将QR分解运用于CKF协方差阵的更新,提高了滤波的稳定性。利用SINS短期高精度的特点,对GNSS测量噪声自适应估计,减弱测量误差突变的影响。构造了检验门限,在GNSS测量误差稳定时不进行自适应估计以减少计算量。仿真与组合导航实验结果表明,在GNSS测量误差突变的情况下,所提算法对GNSS测量噪声具有较高自适应性,相较于SRCKF和SageHusa自适应SRCKF算法,平均定位精度分别提升19.31%和4.56%,提高了组合导航系统的抗干扰能力。Aiming at Cholesky decomposition failure caused by non-positive definite covariance matrix of cubature Kalman filter(CKF)in GNSS/SINS integrated navigation and inability to perform adaptive estimation of GNSS measurement noise,a improved adaptive SRCKF algorithm for GNSS/SINS integrated navigation based on measurement characteristics is proposed.QR decomposition is applied to update CKF covariance matrix to improve filtering stability.The short-time high precision of SINS is used to estimate the GNSS measurement noise adaptively,so as to reduce the influence of the abrupt change of measurement error.The detection threshold is constructed,and the adaptive estimation is not performed to reduce the amount of calculation when the GNSS measurement error is stable.Simulation and integrated navigation experiment results show that the proposed algorithm has high adaptability to GNSS measurement noise under the condition of abrupt change of GNSS measurement error.Compared with SRCKF and Sage-Husa adaptive SRCKF algorithm,the average positioning accuracy is improved by 19.31%and 4.56%respectively,which improves the anti-jamming ability of integrated navigation system.

关 键 词：组合导航 平方根容积卡尔曼滤波 自适应滤波 噪声估计 互差分序列 

分 类 号：U666.1[交通运输工程—船舶及航道工程]