一种具有鲁棒性的滤波算法在INS/GPS组合导航系统中的应用研究

Application of a Virtual Filtering Algorithm with Robustness in INS/GPS Integrated Navigation System

研究了一种虚拟状态滤波算法与UD分解法相结合的方法,并将其应用于组合导航系统的导航参数估计过程中。仿真结果表明:虚拟状态滤波与UD分解法相结合的方法,可以有效地抑制滤波发散,增强系统对环境的适应性,大大提高组合导航系统的快速性。

In this paper, a method of combining the virtual filtering algorithm with UD decomposition is proposed and applied to the integrated navigation system. The simulation result indicates that the virtual state filtering can effectively restrain the filter divergence, enhance the adaptability of system scheme to the environment and greatly improve the accuracy of integrated navigation system.