摘要
本文研究惯性/位置组合导航技术,给出在线估计未知噪声统计参量的自适应卡尔曼滤波算法(AKF)。首先建立组合导航系统直线飞行段和机动飞行段数学模型,并给出相应滤波算法,仿真结果证明了组合导航估计算法的可行性。所得结论对惯导/地形匹配。
This paper describes inertial-position integrated navigation technique, and presents an adaptive Kalman filtering algorithm for estimating the unknown noise statistics on line, First,the integrated navigation system models for straight flight path and maneuver flight path are presented, the corresponding filtering algorithms are also given. Finally,simulative estimating results are given to show the usefulness of the integrated estimating scheme.The conclusions obtained in this paper will be practical value for INS/Terrain Matching,INS/GPS integrated navigation system.
出处
《中国惯性技术学报》
EI
CSCD
1996年第4期16-20,共5页
Journal of Chinese Inertial Technology
关键词
惯性导航系统
组合导航
卡尔曼滤波
inertial navigation system integrated navigation kalman filtering