SINS/GPS组合导航卡尔曼滤波算法研究

Research on SINS/GPS Integrated Navigation Kalman Filter Algorithm

针对单独使用某一种的导航设备都无法满足机载火控系统和飞行系统要求的问题,推导出SINS/GPS组合导航中的一种新的卡尔曼滤波算法。将有色噪声的白化处理引入到卡尔曼滤波器,设计了一套动态车载组合导航试验系统,给出了基于有色噪声白化的卡尔曼滤波器算法的具体步骤,以动态车载SINS/GPS组合导航系统试验的数据分析验证了此算法的正确性和合理性。分析结果表明:基于有色噪声白化的卡尔曼滤波器可以很好地解决有色噪声的影响,弥补了传统卡尔曼滤波器的不足,提高了导航结果的精确度。

Aiming at that single use of any kind of navigation equipment will not meet requirement of airborne fire control system and flight system, deduce a new Kalman filter algorithm of SINS/GPS integrated navigation. Introduce albinism processing of colored noise into Kalman filter, design a dynamic vehicle integrated navigation test system, put forwards the steps of Kalman filter algorithm based on colored noise albinism, use dynamic vehicle SINS/GPS integrated navigation system test data analysis to validate correctness and rationality of algorithm. The analyse results show that, Kalman filter which based on colored noise albinism make up for the deficiency of traditional Kalman filter, and improve the accuracy of navigation result.