一种改进的联合滤波方法在车载SINS/GPS中的应用

Improved Federated Kalman Filtering Method and Its Application at SINS/GPS in Land Vehicle

提出了一种改进的联合滤波方法,即通过滤波器的方差值和故障检测函数,调节局部滤波器的信息分配,来改善总的滤波效果;通过设计车载SINS/GPS组合导航系统最优综合的联合卡尔曼滤波器,给出其滤波算法,对其进行理论分析及计算机仿真,结果表明,应用该改进的联合滤波方法可大大提高车载SINS/GPS组合导航系统的定位精度及容错能力。

An improved federated Kalman filtering method is advanced in this text. Through this method, the filters＂ info-faetor can be adiusted via the filters＇ error functions and their fault-examining functions, thus, the overall filtering effect is improved. An optimal synthesis of SINS/GPS integrated land navigation system is designed first, and its algorithm is presented. The theoretical analysis and computer simulation results all show that the positioning accuracy and fault tolerance ability of the SINS/GPS integrated navigation system can be greatly improved by using this improved method.