INS/GPS/Odometer组合系统初始对准及自适应联合滤波

INITIAL ALIGNMENT OF INS/GPS/ODOMETER INTEGRATED SYSTEM AND ADAPTIVE FEDERATED KALMAN FILTER

本文提出了 INS/GPS/Odometer(测速仪 )组合导航系统。基于信息融合理论 ,提出了基于子滤波器可观性矩阵条件数和误差协方差矩阵特征值分解的自适应联合滤波。然后利用该方法对 INS/GPS/Odometer组合系统的初始对准问题进行了研究。仿真结果表明 ,自适应联合滤波能够改善系统初始对准的状态估计精度 。

In this paper,A novel inertial navigation system such as INS/GPS/Odometer integrated system is presented.Based on data fusion theory,initial alignment of this system is addressed on.An adaptive federated Kalman filter is provided which can evaluate the information sharing coefficients through the condition number of observability matrix and the error covariance matrix of Kalman filter dynamically.Some simulations show that the accuracy of this integrated system is affected by the information sharing coefficients.This integrated scheme is feasible in theory and engineering.