GPS/INS组合导航中的自适应滤波算法

研究了GPS/INS导航系统中的不确定噪声问题,给出了一种基于协方差匹配技术的自适应卡尔曼滤波算法,该法当测量噪声的协方差已知时可以自适应估计出系统噪声的协方差.它是在滤波过程中通过判定系统噪声的协方差是否发生了变化,若它发生了变化再估计出新的协方差,然后再按得到的噪声统计估计值计算新息序列的协方差阵,因此有效地提高了滤波结果的精度并消除了滤波发散现象.数字仿真表明效果良好.

Adptive Filtering Technology in GPS/INS Integrated Navigation

The problem of GPS/INS navigation systems with uncertain noise is considered.An adaptive computation method of Kalman filter based on covariance matching technique is introduced.The covariance of the system noise can be estimated accurately by using this method when the covariance of the measurement noise is known.In filtering,it can see if there is any change occurred to the covariance of the system noise,and if there is any it estimates the new covariance,and uses the obtained statistical estimation of the noise to compute the covariance matrix of the posterior sequence,thus can modify predicted states and eliminates the filter divergence problem.And finally the numerical simulation shows that it gives good effect.