车辆导航Kalman滤波衰减因子自适应算法实现

Realization of Adaptive Filtering Kalman Filtering with Fading Factor in Vehicle Navigation System

系统介绍了车辆导航系统中卡尔曼滤波器的设计,给出了误差校正的方法。提出了一种衰减记忆卡尔曼滤波中衰减因子的自适应估计方法。并在INS/GPS组合导航系统中进行了计算仿真,结果表明该算法能够较好地估计出衰减因子的大小有效地抑制滤波发散,提高导航精度。

This paper recommend the design of Kalman filter in vehicle navigation system by the numbers. It provides a method of error correct. A new group of adaptive estimation method of Kalman filter fading factor was developed. The INS/GPS （global positioning system and strapdown inertial navigation system） integrated navigation system was emulated, and the result indicates that the algorithms could estimate fading factor adaptively, restrain filtering divergence, improve the navigating precision.