惯性/地磁组合导航系统自适应卡尔曼滤波算法研究

On an algorithm of adaptive Kalman filter of INS/GNS integrated navigation system

针对惯性/地磁组合导航中遇到的滤波的发散问题,采用自适应卡尔曼滤波估计导航系统的误差。该算法通过实时估计和修正系统噪声以及观测噪声的统计特性达到降低模型误差、抑制滤波发散的目的。在Matlab环境下的仿真证实了该方案可以防止滤波器发散,缩小滤波误差,提高滤波精度。

integrated Divergence often occurs in Inertial Navigation System/Geomagnetic Navigation System （INS/GNS） navigation system. To solve the problem, adaptive Kalman filter is used for estimating the error of the navigation system. The algorithm reduces the error of model and restrains filtering divergence through real - time estimating and by modifying the statistical characteristics of system/measurement noise. The results of simulation under Matlab show that the presented method can reduce the error of actual filter, restrain filtering divergence and improve the accuracy.