GPS/INS组合系统自适应滤波算法

Adaptive Filtering Algorithm to GPS/INS Integrated System

研究了GPS/INS组合系统在高动态运动目标定位中的应用。根据组合系统建立状态方程 ,GPS观测量构成观测方程。自适应滤波过程中 ,通过观测数据对观测噪声进行估计 ,再用Sage -Husa算法在对动态噪声进行估计的同时实现状态滤波估计。计算机仿真结果验证了这种滤波算法的有效性。

GPS/INS integrated systems are applied in the self-positioning of the high dynamic targets. This paper forms state equations and observation equations by the integrated system and GPS observation respectively. An adaptive filtering algorithm is introduced which estimates observation noise covariance with observation data, and estimates dynamic noise covariance by use of Sage-Husa filtering algorithm which has faster convergent speed and better stability than the conventional Kalman filtering algorithm. At last, simulations are given to verify the effectiveness of the algorithm.