摘要
引入一种动态性能较优的无偏导滤波器,针对其在GPS导航系统线性状态时的低精度表现,对单一的导航滤波器进行改进。采用一种组合滤波结构,根据GPS接收机的输出状态来进行线性及非线性滤波器的切换滤波。其中,线性滤波器采用优化的传统卡尔曼滤波器,并在仿真实验中验证其线性滤波优势;非线性滤波器采用了无偏导滤波器。车辆仿真实验表明,这种线性-非线性组合滤波器的误差低,运算量较小,整体滤波性能比单一滤波器高。
Owing to low-precision of a derivative-free filter on linear statement of GPS navigation,which has the superior dynamic performance,the single filter is improved.According to the output state of the GPS receiver to choose linear or nonlinear filter,a kind of combined filtering structure is proposed.Its linear filtering of the improved conventional kalman filter is verified in simulation experiment to be good,and a derivative-free filter is adopted as the nonlinear filter.The vehicle simulation results show that the combined linear-nonlinear filter has low error and computation is better than the single filter.
出处
《茂名学院学报》
2010年第3期26-29,共4页
Journal of Maoming College
基金
2009年茂名学院青年创新人才培育项目(2009YC04)
关键词
无偏导
线性
单一
组合滤波
非线性
derivative-free
linear
singleness
combined filtering
nonlinear
