| 一种应用于GPS/低成本INS组合导航的自适应滤波算法 |
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| 引用本文： | 赵思浩,陆明泉,冯振明.一种应用于GPS/低成本INS组合导航的自适应滤波算法[J].清华大学学报(自然科学版),2011(8):1027-1030. |
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| 作者姓名： | 赵思浩 陆明泉 冯振明 |
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| 作者单位： | 清华大学电子工程系; |
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| 摘 要： | 为了提高在全球卫星定位系统(GPS)接收机导航解更新间隔期间组合导航系统的定位精度,在分析了惯导系统(INS)误差模型的基础上,使用一种对噪声协方差矩阵进行实时自适应估计的算法改进了通常使用的标准Kalman滤波器。采集清华大学内的跑车实测数据,并使用自适应算法进行处理,结果表明:该方法可以有效地提高GPS导航解间隔期间组合导航系统的定位精度,整体定位精度可以提升近10%,在车辆行驶状态变化较大的路径中获得了最高达40%的位置精度提升。该方法易于实时实现,在实际工程实现中具有一定的应用前景。
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| 关 键 词： | 全球定位系统(GPS) 惯性导航系统(INS) 组合导航 自适应滤波 |
Adaptive filtering in GPS and low-cost INS integrated navigation systems |
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| ZHAO Sihao,LU Mingquan,FENG Zhenming.Adaptive filtering in GPS and low-cost INS integrated navigation systems[J].Journal of Tsinghua University(Science and Technology),2011(8):1027-1030. |
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| Authors: | ZHAO Sihao LU Mingquan FENG Zhenming |
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| Institution: | ZHAO Sihao,LU Mingquan,FENG Zhenming(Department of Electronic Engineering,Tsinghua University,Beijing 100084,China) |
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| Abstract: | The accuracy of an integrated global positioning system(GPS) and inertial navigation system(INS) navigation system can be improved by modifying the conventional Kalman filter to guarantee the accuracy of the GPS navigation output.An adaptive filtering method based on real-time estimates of noise covariance matrix was developed to improve the Kalman filter.Field data collected in a driving test to evaluate the adaptive method shows that the method effectively improves the accuracy during the GPS solution int... |
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| Keywords: | global positioning system(GPS) inertial navigation system(INS) integrated navigation adaptive filtering |
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