基于MIMU/GPS组合导航定位系统的一种新型卡尔曼滤波算法的研究

A Nnew Kalman Filter Algorithm Based on MIMU/GPS Integrated Navigation System

文中提出了基于MIMU/GPS组合导航定位系统的一种新型卡尔曼滤波算法。系统以MEMSIMU为传感器核心,采用位置和速度组合,运用该算法对系统模型误差和量测噪声协方差误差具有良好的自适应性。

This paper presents a new Kalman filter algorithm based on MIMU/GPS integrated navigation system. The system adopts MEMS IMU as the core of sensor. The position difference and the velocity difference between INS and GNS is as measurements, and the parameters is estimated using the measurement noise automatic weight Kalman filter. The results of simulation under MATLAB show that the algorithm is adaptive to the error of model and measurement noise covariance with high effectiveness and accuracy.