容错滤波及在GPS／INS组合制导中的应用

Fault-tolerant Filter and Its Application on GPS/INS Integrated Guidance

GPS测量异常值对GPS/INS组合制导中的Kalman滤波影响较大,甚至会导致滤波发散。文中给出了基于增益隔离的容错滤波算法,仿真结果表明,文中给出的算法能有效地改善Kalman滤波的容错性能,提高GPS/INS组合制导的可靠性。

The influence on Kalman filter of the abnormal GPS measure will be bad and even makes the filter diverged in GPS/ INS integrated guidance. In this paper, fault-tolerant filter based on the gain isolation is presented. Simulation result shows that the improved filter can not only improve the fault-tolerant capacity to GPS outlier, but also enhance the reliability of GPS/INS integrated guidance.