基于修正Rodrigues参数的鲁棒滤波算法在组合导航中的应用

Modified Rodrigues Parameters Based Robust Kalman Filter for Integrated Navigation

组合导航的观测量常会因外界复杂环境的干扰,出现滤波精度下降的现象。提出一种基于修正Rodrigues参数的鲁棒滤波算法,利用修正Rodrigues参数来重新构造组合导航姿态表达,通过引入HUBER鲁棒策略实现抑制观测量干扰等问题。在捷联惯导/卫星组合导航仿真例子中,比较了传统基于四元数的滤波算法、基于修正Rodrigues参数的滤波算法及其鲁棒化滤波算法,仿真实验结果表明算法具有计算量低和抑制外部干扰等效果,证明了算法的有效性。

Due to the interference of the external complex environment on the observations of integrated navigation, the filtering accuracy may be degraded. This paper proposes a robust Kalman filter based on modified Rodrigues parameters. The proposed algorithm can suppress the disturbance of observations using modified Rodrigues parameters and Huber robust filtering strategy. In the integrated SINS/GPS navigation test, contrast is made to the filtering algorithm based on unscented quaternion estimator, the filtering algorithm based on modified Rodrigues parameters and their robust forms. The results prove that the proposed algorithm is valid with lower calculation cost and better robustness.