摘要
针对SINS(Strapdown Inertial Navigation System)/GPS组合导航系统中出现的滤波发散问题,研究自适应渐消卡尔曼滤波对于滤波发散的抑制作用,引入了一种新的渐消矩阵计算方法.为了提高导航精度,增加了地磁量,作为观测量对运载体的姿态、速度、位置进行校正,有效地解决了SINS初始状态的导航精度下降问题.车载实验证明,该算法简单,容易实现,能够有效抑制滤波发散,满足组合导航的精度要求.
Aiming at the problem of filtering divergence which occurs in, SINS/GPS Integrated Navigation System, this paper studies adaptive fading Kalman filter for filtering divergence of inhibition. Meanwhile, in order to improve nav- igation accuracy,increase the amount of a geomagnetic observations of posture, speed, position correction and effective so- lution to the navigation accuracy SINS initial state of the problem of declining. Simulation results show that the algo- rithm is simple, easy to implement and can effectively sup- press filter divergence, meet the accuracy requirements of navigation.
出处
《成组技术与生产现代化》
2015年第3期59-62,共4页
Group Technology & Production Modernization
基金
国家863计划资助项目(2009AA04Z167)
