组合导航滤波器的在线初值设置及收敛判定方法

A Method of Online Setting up Initial Values and Online Convergence Criterion of Integrated Navigation Filter

组合导航滤波时需要设置初值并对滤波是否收敛进行判断。针对初值设置问题,提出一种根据滤波模型递推值对状态变量协方差阵在线初始化的方法;针对判断收敛问题,提出了一种利用状态变量协方差阵进行在线判断滤波是否收敛的方法。通过实时计算状态量协方差的相对值,得出收敛条件,并给出收敛程度。最后通过数学仿真,验证了本文方法的有效性。

The initial values and judging convergence are required during integrated navigation filtering. Regarding the setup of the initial values, an online method based on filtering model＇s recursive values is provied to set the covariance matrix of state variables. For the problem of how to judge convergence, a new method is presented by using state variable covariance matrix. By calculating the relative values of state vatiable covariance in real time, convergence criterion and the degree of convergence are obtained. In the end,mathematical simulation is used to verify the validity of the new methods.