一种新的惯性/GPS组合导航系统随机干扰处理方法

研究动力学系统波动算法的简化和改进方法，用该方法对陀螺漂移，加速度计误差等随机干扰进行统计描述，巧妙地运用卡尔曼滤波除组合导航系统的波动型干扰，简化原算法，使计算量比原算法减少，通过对惯性／GPS组合导航系统中的波动法和卡尔曼滤波的比较及计算机仿真研究表明，新的改进波动算法与原算法几乎一样有效，波动型随机干扰的估算精度高于标准卡尔曼滤波。

A New Method for Processing Random Disturbance in Inertial/GPS Integrated Navigation System

The improved and simplified method of the wave algorithm in the dynamic system is investigated. Random disturbances such as gyro drift and accelerometer error are described in non statistical way. And Kalman filter is applied subtly to filter the wave disturbance in integrated navigation system. By simplifying the original algorithm, the amount of calculation is decreased. By the comparison between the new algorithm and Kalman filter applied in inertial/GPS integrated navigation system, and according to the computer simulation, it is shown that the new improved algorithm is almost as effective as the original, and the estimation precision of the new algorithm for the random wave disturbance is better than the standard Kalman filter.