一种自适应卡尔曼滤波组合导航定位方法

An integrated navigation and positioning method of adaptive Kalman filtering

针对导航定位中GPS/INS组合导航系统易受气候、环境噪声的影响而很难确定系统状态模型的问题,提出一种基于组合导航系统的自适应卡尔曼滤波算法:基于监测残差与理论值协方差间的差值,应用自适应系统不断完善自适应滤波器增益系数值,对卡尔曼滤波进行实时控制,实现最优估计。实验结果表明:自适应卡尔曼滤波算法对于受海风影响较大的环境下获取的数据具有良好的信息处理能力,能够有效控制数据不受环境影响,具有有效性及实用性。

Aiming at the problem that GPS/INS integrated system is susceptible to climate and environmental effects so it is difficult to determine the state model for the system,the paper proposed an adaptive Kalman filtering algorithm based on the integrated navigation：based on the difference between the monitoring residuals and the theoretical covariance,the adaptive system was used to improve the gain coefficient of the adaptive filter,and the Kalman filter was controlled in real time to achieve the optimal estimation.Experimental result showed that the method could process the data affected greatly by the sea breeze well,and effectively control the data to be unaffected by the environment,which proved the feasibility of the method.