Sigma-Point直接式卡尔曼滤波惯性组合导航算法

Sigma-Point direct Kalman filtering algorithm for inertial integrated navigation system

基于西格玛点采样加权的方法,以姿态、速度和位置等9个导航参数为状态向量,以卫星导航系统的速度和位置组成6维观测向量,构建直接式卡尔曼滤波器,融惯性导航系统求解和状态估计的过程为一体,直接描述系统导航参数动态过程.仿真结果验证了惯性组合导航Sigma-Point直接式滤波方法的有效性,表明该非线性直接式滤波方法可提高惯性组合导航系统的导航精度和对飞机、导弹等载体非线性机动过程的适应性.

A nonlinear Kalman filter with direct structure for inertial integrated navigation system is proposed based on weighted Sigma-Points samples. The direct filter takes attitude, velocity and position as state vectors with the order number of 9. And the observation vector contains 3 velocity and 3 position provided by global navigation satellites system. The filter fuses the solving of INS mechanization in navigation frame and the process of state estimation, and directly describes the dynamic process of navigation parameters of the system. GPS/INS direct filtering simulation results show the effectiveness of the proposed method which can improve the navigation accuracy and the fitness to the nonlinear maneuver of airbornes or missiles.