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GPS/INS相对导航鲁棒扩展卡尔曼滤波方法
引用本文:王东,李国林.GPS/INS相对导航鲁棒扩展卡尔曼滤波方法[J].北京理工大学学报,2014,34(12):1278-1282.
作者姓名:王东  李国林
作者单位:海军航空工程学院, 山东, 烟台 264001;海军航空工程学院, 山东, 烟台 264001
基金项目:国家高技术研究发展计划资助项目(2010AA8012320C)
摘    要:针对绕飞模式下追踪器与合作目标间的GPS/INS组合相对导航问题,考虑追踪器的惯量阵存在不确定性,为提高相对导航系统的精确性和稳定性,提出了一种GPS/INS组合相对导航的鲁棒扩展卡尔曼滤波算法.该算法采用近似线性化方法将相对导航系统中的非线性函数进行泰勒级数展开,并将线性化引起的模型误差作为不确定项来处理,结合鲁棒卡尔曼滤波算法,设计了GPS/INS组合相对导航的鲁棒扩展卡尔曼滤波算法.仿真结果表明,该方法相对位置的估计精度为0.1m,相对姿态的估计精度为0.001°,相对导航精度很高,且对追踪器惯量阵存在的不确定性具有很好的鲁棒性.

关 键 词:GPS/INS组合导航  相对导航  鲁棒扩展卡尔曼滤波
收稿时间:2014/3/17 0:00:00

Robust Extended Kalman Filter for GPS/INS Relative Navigation
WANG Dong and LI Guo-lin.Robust Extended Kalman Filter for GPS/INS Relative Navigation[J].Journal of Beijing Institute of Technology(Natural Science Edition),2014,34(12):1278-1282.
Authors:WANG Dong and LI Guo-lin
Institution:Naval Aeronautical Engineering Institute, Yantai, Shandong 264001, China;Naval Aeronautical Engineering Institute, Yantai, Shandong 264001, China
Abstract:In this paper, a robust extend Kalman filter was proposed for GPS/INS integrated relative navigation systems between cooperative target and tracker in the presence of inertia uncertainties. Firstly, the first-order of Taylor series expansion was utilized to linearize the nonlinear term of the relative navigation systems approximately, while the model error caused by linearization was considered as the uncertainties of the system. Then, based on the robust Kalman filter, a robust extend Kalman filter algorithm was proposed for the GPS/INS integrated relative navigation system. Finally, the simulation result indicates that the proposed method provides relative position accuracy of 0.1 m and relative attitude accuracy of 0.001°, which manifests a high accuracy and a strong robustness against the inertia uncertainty of tracker.
Keywords:GPS/INS integrated navigation  relative navigation  robust extended Kalman filter
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