两种滤波方法在SINS/GPS组合导航中的应用与比较

Application and Comparison on Two Filter Methods in SINS/GPS Integrated Navigation System

本文针对SINS/GPS组合导航系统中卡尔曼滤波发散的情况,引入了自适应滤波和H∞滤波,分析了它们各自的特性,最后进行仿真计算,验证了这两种滤波用于SINS/GPS组合导航系统的可行性和有效性,对实际应用中组合导航系统滤波器的设计具有一定的指导意义。

On accounting of the divergence of general Kalman filter in SINS/GPS integrated navigation system, This paper introduces adaptive filter and H∞ filter. Analyzed their peculiarities. Last made simulation to prove the validity and usability of these two kinds of filter used for the SINS/GPS integrated navigation system, Thus, it is of significant in practice for filter design in integrated navigation system.