摘要
该低成本组合导航系统由基于MEMS器件的惯性导航系统和GPS组成。针对该系统,基于卡尔曼滤波的数据融合算法,提出了解决和分析系统状态的可观性问题、滤波器的阶次选择问题的方法,并进行了数学仿真,结果表明提出的思路和方法是可行的,具有工程参考价值。
The designed low cost integrated navigation system consists of MEMS-based inertial navigation system and global positioning system, this kind of integrated navigation system has wide application fields. Based on this kind integrated navigation, the data fusion algorithm based on Kalman filtering is introduced, especially the methods on solving the observ- ability of system state and selection of state vectors are proposed, and the mathematical simulation is performed. Simulation results show that the proposed method is feasible and has reference value.
出处
《现代电子技术》
2011年第4期204-207,共4页
Modern Electronics Technique
基金
陕西省自然专项基金的资助(09JK490)
西安工业大学校长基金的资助(XAGDXJJ0918)
关键词
低成本
组合导航
数据融合
可观性
low cost
integrated navigation
data fusion
observability
