多惯导系统组合导航下的卡尔曼滤波算法研究  

Research on Kalman Filter Algorithm Under Combinatorial Navigation of Multi-Inertial Navigation System

作　　者：刘阳 叶俊明 姚爽 谢逸 彭梦洁 LIU Yang;YE Junming;YAO Shuang;XIE Yi;PENG Mengjie(Wuhan Wuzi Infomation Technology Co.,Ltd.,Wuhan 430000;Wuhan Engineering Consulting Department Co.,Ltd.,Wuhan 430000;Wuhan Govemment Service and Big Data Administration,Wuhan 430000)

机构地区：[1]武汉武咨信息技术有限公司,湖北武汉430000 [2]武汉市工程咨询部有限公司,湖北武汉430000 [3]武汉市政务服务和大数据管理局,湖北武汉430000

出　　处：《长江信息通信》2024年第6期61-62,73,共3页Changjiang Information & Communications

摘　　要：针对捷联式惯性导航系统(简称“惯导系统”)中的卡尔曼滤波算法进行研究。依据惯性导航系统的基本原理建立误差模型,分析多个惯性导航系统在组合导航时的误差特性,将Sage-Husa自适应形式的滤波作为基础,提出了一种多惯导形式的数据融合计算方法。将Sage-Husa自适应形式的滤波算法优势予以保留,结合常规形式的卡尔曼滤波算法,对Sage-Husa滤波进行简化,只对量测噪声进行自适应调节。实验表明,文中的数据融合算法能很好地实现多惯导导航系统的组合导航,融合后的误差估计结果与独立误差趋势一致,且受误差较大惯性导航的影响较小。The Kalman filter algorithm in the Czech-type inertial navigation system(referred to as"inertial navigation system")is studied.According to the basic principle of inertial navigation system,the crror model is established,the crror charactcristics of multiple inertial navigation systems in combined navigation are analyzed,the filtering of Sage-Husa is taken as the basis,and a data fusion calculation method of multi-inertial navigation form is proposed.The advantages of the filtering algorithm in the adaptive form of Sage-Husa are retained,and combined with the Kalman-filtering algorithm in the conventional form,the Sage-Husa filter is simplified,and on-ly the measured noise is adjusted automatically.The Experiments show that the data fusion algo-rithm in this paper can realize the combined navigation system,and the combined error estima-tion result is consistent with the independent crror trend,and is less affected by the inertial navi-gation.

关 键 词：惯性导航系统 数据融合 联邦滤波 Sage-Husa自适应滤波 组合导航 

分 类 号：TN966[电子电信—信号与信息处理]