SR-CDKF在组合导航直接法滤波中的应用

Application of SR-CDKF in Direct Filtering of Integrated Navigation

为了解决SINS/GPS组合导航系统姿态、速度和位置等导航参数的非线性估计问题,提出了一种基于平方根中心差分卡尔曼滤波(SR-CDKF)的直接式滤波估计方法。系统状态方程选取惯导力学编排方程,系统状态向量和观测向量分别选取SINS导航参数和GPS输出参数,构建了SR-CDKF滤波器。该滤波器可以使导航参数动态过程得到直接反映,并使得直接式滤波计算流程得以实现。以MATLAB中areoblk_HL20模块为基础构建了仿真系统并进行了仿真。仿真结果表明,该算法具有较高的滤波精度、良好的滤波收敛性和稳定性,能使非线性模型下SINS/GPS组合导航系统的导航要求得到满足。

In order to solve the nonlinear estimation problem of the navigation parameters about SINS/GPS integrated navigation system such as attitudes,speeds and positions,a direct filtering estimation method was proposed based on Square Root Center Differential Kalman Filter(SR-CDKF).The system state vectors and observation vectors respectively consisted of SINS navigation parameters and GPS output parameters,and the SR-CDKF filter was constructed.The filter can directly reflect the dynamic process of navigation parameters and realize the direct filtering calculation process.Based on the areoblk_HL20module in the MATLAB,the simulation system was built,and the simulation was carried out.The simulation results show that the algorithm has high filtering accuracy,good convergence and stability of filtering,and the navigation requirements of SINS/GPS integrated navigation system under the condition of the nonlinear model can be satisfied.