摘要
在卡尔曼滤波算法的基础上,提出一种导航误差状态估计的新方法。该方法选取SINS和GPS三个方向上的速度差和位置差作为观测量,根据惯性器件和GPS的精度确定噪声强度,同时建立反馈控制与卡尔曼滤波相结合的滤波器,最终得到误差状态的估计值。仿真结果表明,新型滤波器不仅解决了卡尔曼滤波发散的问题,而且使得误差估计精度得到了极大的提高,从而为组合导航系统的误差估计技术找到了更有工程应用价值的方法。
A new method of navigation error state estimation based on kalman filter algorithm is presented. The method choose the difference of velocity and position that come from SINS and GPS in three directions as observation The noise intensity is detected according to the precision of the inertial unit and GPS. The filter is established with the feedback control and Kalman filter, and the estimation of error state is gained finally. The simulation results show that the new filter not only solves the problem of Kalman filter divergence, but also greatly improves the error estimation accuracy. Consequently, the new method has more application value for error estimation technique of integrated navigation system.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2010年第2期190-194,共5页
Journal of Chinese Inertial Technology
基金
国防预研基金项目(9140A09050708JB3503)
关键词
状态反馈
卡尔曼滤波器
组合导航
误差估计
state feedback
Kalman filter
integrated navigation
error estimation
