Adaptive extended Kalman filter in SINS/GPS navigation system
Adaptive extended Kalman filter in SINS/GPS navigation system
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发表时间：
2014
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通讯作者：
Sun Hong-we
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作者：
Sun Hong-we
针对低成本SINS/GPS组合导航系统，由于惯性器件精度较低，在正常情况下，SINS误差模型估计不准确，甚至出现滤波发散问题。根据姿态四元数，提出了不需要初始姿态赋值的SINS误差估计模型。为了估计测量噪声未知情况下的SINS误差，将序贯处理和卡尔曼滤波算法相结合，提出了一种提高自适应能力的新方法。仿真结果表明，该方法能够自适应地消除干扰噪声方差过程和观测噪声方差不确定性带来的影响，提高了SINS/GPS导航系统的鲁棒性。
For low-cost SINS/GPS integrated navigation system,due to the lower accuracy of inertial devices,in normal circumstances,SINS error model estimation is not accurate,the filter divergence problem even emerges.According to attitude quaternion,the SINS error estimation model was proposed which did not require the assignment of initial attitude.To estimate the SINS error in the measurement noise unknown circumstances,the sequential processing and Kalman filter algorithm were combined into a new method to improve the adaptive ability,the method can carry out sequential processing and estimate simultaneous measurement noise at the same time.The simulation results show that the method can adaptively eliminate the effects brought about by interference noise variance process and observation noise variance uncertainty,the robustness of SINS/GPS navigation system is improved.