有色噪声作用下的INS/地磁组合导航算法研究

Analysis of Algorithm for INS/Geomagnetic Integrated Navigation Under Colored Noise

为了克服基本扩展卡尔曼滤波对噪声统计特性的约束,针对地磁测量噪声为有色噪声的特性,基于扩维卡尔曼滤波算法实现了惯性/地磁组合导航算法。分析了分布式组合导航方案的基本原理,在子滤波器观测信息为实测地磁场总强度信息条件下,基于巡航导弹巡航段飞行过程采用基本扩展卡尔曼滤波和扩维卡尔曼滤波算法进行了仿真分析。仿真结果表明,扩维卡尔曼滤波具有较好的稳定性和收敛性,解决了扩展卡尔曼滤波算法的发散问题。

An INS/geomagnetic integrated navigation algorithm is developed based on augmented navigation algorithm to overcome the noise restriction of Extended Kalman Filter as geomagnetic measurement disturbance contains colored noise.The theory of distributed integrated navigation is analyzed.Using the scalar information of geomagnetic field as sub-filter observation information,simulation is performed with Extended Kalman Filter and the augmented Kalman Filter method based on the cruise phase of cruise missile.The results show that augmented Kalman Filter solves divergence problem of Extended Kalman Filter and provides better reliability and convergence.