摘要
根据惯性/地磁组合导航系统中系统噪声不确定问题建立了系统的非线性模型集,并采用粒子滤波(PF)作为IMM匹配滤波器(IMM-PF算法),直接使用非线性的观测方程,避免了线性化误差,解决了系统噪声不确定的问题。仿真结果表明,与传统EKF算法相比,IMM-PF算法在系统噪声不确定情况下可自动调整系统模型,保证系统快速收敛,提高了导航精度。
The problem of nonlinearity and system noise uncertainty in the inertial and geomagnetic integrated navigation systems seriously affected the navigation accuracy of the systems.For solving the problem,Firstly,nonlinear model set of the system is established aming the system noise uncertainty,and the model set should cover a variety of noise conditions.Secondly,the Particle Filter（PF） is used as the IMM matched filter.Thus IMM-PF algorithm is proposed,and the non-linear equations can be used directly in this algorithm.The simulation results show that,compared to conventional EKF algorithm,in the condition of system noise uncertainty,IMM-PF algorithm can automatically adjust the system model,can guarantee the convergence of the system quickly,and can improve the navigation accuracy.
出处
《大地测量与地球动力学》
CSCD
北大核心
2012年第5期82-85,共4页
Journal of Geodesy and Geodynamics
基金
山东省科技发展计划项目(2011GGA16054)
滨州学院博士学位人员科研启动费项目(2009Y04)
关键词
组合导航
IMM
粒子滤波
非线性
系统噪声
integrated navigation
IMM
Particle Filter（PF）
nonlinear
system noise
