摘要
针对GPS/DR组合导航Kalman滤波的异常扰动影响问题,引入了自适应滤波算法。给出了由预测残差确定自适应因子的过程。利用实测数据进行验证,结果表明无论是单因子自适应滤波还是多因子自适应滤波都能够很好地控制状态异常对滤波估值的影响,滤波精度均优于标准Kalman滤波导航解;而且因为多因子自适应滤波避免损失可靠的状态参数信息,较单因子自适应滤波,精度又有明显提高。
An adaptive Kalman filtering is applied in GPS/DR integrated navigation to control the influences of outlying movement disturbances. In this paper, the multi adaptive factors of the predicted states were given by the predicted residuals. By real data processing, it was shown that both the adaptive factor and the multi adaptive factors could resist the influence of the state disturbances, and the precision of the navigation is higher than that of the standard Kalman filtering. And the multi adaptive factors improved the precision greatly compared with the adaptive factor because they avoided loosing the efficiency of the reliable state parameters.
出处
《测绘科学技术学报》
北大核心
2008年第3期206-208,212,共4页
Journal of Geomatics Science and Technology
基金
国家自然科学基金项目(4060400340474001)
