摘要
从卡尔曼滤波的稳定性出发,分析了卡尔曼滤波算法发散的原因,提出了一种适合组合导航的衰减记忆卡尔曼滤波中衰减因子的自适应估计方法,并在GPS/SINS组合导航系统中进行了实验.实验结果表明,该算法能够自适应地估计出衰减因子的大小,有效地抑制滤波发散,且计算量较其它方法小.
The reasons of the instability of Kalman filter are analyzed from the stability of Kalman filter, A new adaptive estimation method is presented, which is Kalman filter fading factor, and is tested in GPS/SINS integrated navigation system. The result shows the the proposed algorithm can estimate the fading factor adaptively and restrain filtering divergence. Its computation burden is less than that of other algorithm.
出处
《战术导弹技术》
北大核心
2007年第6期68-72,共5页
Tactical Missile Technology
关键词
卡尔曼滤波
自适应滤波
衰减因子
组合导航
Kalman filtering
adaptive filtering
fading factor
integrated navigation
