信息分配系数的自适应滤波在GPS/DR组合导航中的应用

Application of Adaptive Filter Based on Information Distribution Coefficient to GPS/DR Integrated Navigation

在组合导航中常采用联合滤波器进行多源传感器的信息融合,其中信息分配系数的取值直接影响着联合滤波器的性能。在详细分析子滤波器状态变量估计协方差阵特点的基础上,文中提出了采用两组信息分配系数的自适应联合滤波模型,并将设计的自适应联合滤波模型应用于车载GPS/DR组合导航中。仿真实验表明,导航的位置精度提高约为40%;速度精度提高约为10%。同时也提高了组合系统的容错性和可靠性。

In the integrated navigation, the federated filter is often used to fuse the information of multi-source, and the values of the distribution coefficient affect the performance of the fede-rated filter directly. In this paper, by analyzing the characteristics of the covariance matrix of state variable of sub filter, a adaptive filtering model that has two groups of information dis-tribution coefficient is presented, and the design model is used in the GPS / DR integrated navigation, A simulation experiment shows that the location accuracy increases forty percent, and velocity accuracy increases ten percent. In addition, the fault tolerance and reliability of the combined system are improved.