基于MIMU/GPS/EC的联邦卡尔曼滤波器设计

Design of Federal Kalman Filter Based on MIMU/GPS/EC

针对组合导航系统高精度、高容错性、高可靠性的实际应用要求,提出了基于MIMU/GPS/电子罗盘的组合导航方案,设计并实现了位置、速度、姿态分别组合的无重置式联邦滤波器,各子滤波器相互独立工作,无反馈重置带来的相互影响,保证了系统最高的容错性能和较高的精度.仿真试验结果表明,所设计的基于MIMU/GPS/电子罗盘的联邦滤波算法能够有效抑制纯惯导的误差发散问题,具有计算量小、容错性高、精度高等特点,有着广阔的应用前景.

Aiming at the practical application requirements of high precision and high fault- tolerance, MIMU / GPS / EC （electronic compass） integrated navigation program was proposed, and the non-reset federated filter consisting of position, velocity, and attitude sub-filter was designed. Each sub-filter worked independently without the feedback of reset, bringing the highest level of fault tolerance and high precision. Simulation result shows that the designed MIMU / GPS / EC federal filtering algorithm can effectively inhibit the pure inertial navigation error divergence problem with small calculation amount, high fault tolerance and high precision. The filter has broad application prospects.