组合导航系统卡尔曼滤波衰减因子自适应估计算法研究

Adaptive Estimation of Kalman Filter Fading Factor in Integrated Navigation System

提出了一种衰减记忆卡尔曼滤波中衰减因子的自适应估计方法 ,并在 GPS/SINS组合导航系统中进行了计算仿真。仿真结果表明 :该算法能够较好地估计出衰减因子的大小 ,有效地抑制滤波发散 。

A new adaptive estimation method of Kalman filter fading factor is proposed and the simulation is made in GPS/SINS integrated navigation system.The result shows that the proposed algorithm can adaptively estimate the fading factor restrain,filtering the divergence and greatly improve the accuracy of integrated navigation system.