卡尔曼滤波参数设置对箭载GPS滤波效果影响分析

An Effect Analysis about the Kalman Filter Parameter Selected for on-board GPS Filter

卡尔曼(Kalman)滤波作为一种实时递推算法,对减少随机噪声的影响具有重要作用。但在目前资料中很少涉及关于Kalman滤波过程中各种参数选择对于滤波效果的影响分析,通过从理论和工程应用两个层面对箭载GPS状态参数的初值、参数估计的协方差矩阵的初值、测量噪声和系统噪声等参数的变化对Kalman滤波效果的影响进行了研究分析,结合工程实际,提出了Kalman滤波参数设置原则,给出了各参数设置的范围和目的,并利用实测数据进行了分析计算,结果表明:能有效减少箭载GPS滤波的盲目性,提高滤波效率,具有很好的滤波效果,更切合工程实际。

It is essential for Kalman filter as a real-time recursion arithmetic to reduce the random noise.But in recent literature,it is seldom related to the effect analysis about the parameter selected in the course of Kalman filtering for on-bard GPS filter.So,a research and analysis is put up,with regard to the change of parameter,such as initial value of state,the initial value of covariance matrix,as well as measure noise and system noise,having impact on Kalman filter effect from theoretics and engineering aspects.Combining the practicality of engineering,the parameter setting principle of Kalman filter is presented,and the bound and intention of parameter setting is confirmed.The measure data is used to calculate,the result indicate that it can be good for decreasing the blindness of on-board GPS filter,and can receive better filtering effect,as well as can be much more suitable to the practicality of engineering.