| 动态捷联惯导/多卫星组合导航自适应联邦滤波算法研究 |
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| 引用本文： | 王春霞,赵伟,刘瑞华,刘建业. 动态捷联惯导/多卫星组合导航自适应联邦滤波算法研究[J]. 信息与控制, 2008, 37(4): 1-1 |
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| 作者姓名： | 王春霞 赵伟 刘瑞华 刘建业 |
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| 作者单位： | 1. 南京航空航天大学自动化学院,江苏,南京,210016
2. 中国民航大学电子信息工程学院,天津,300300 |
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| 摘 要： | 研究了一种基于动态扰动的滤波算法，用以提高动态扰动情况下捷联惯导/多卫星组合导航系统的精度和可靠性．该算法采用几何精度因子（GDOP）对量测噪声进行自适应调节，利用卡尔曼滤波器的新息量对状态噪声协方差阵进行整体控制，同时根据具有时变特性的各子系统误差协方差阵对信息分配系数进行自适应调节．通过对SINS/GPS/Galileo/北斗组合导航系统的仿真，分析对比了常规联邦滤波、Sage 自适应联邦滤波和本文所提自适应联邦滤波算法．结果表明，该自适应联邦滤波算法能够有效抑制动态扰动，提高组合导航系统的精度和可靠性．
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| 关 键 词： | 捷联惯导系统 组合导航 自适应联邦滤波 动态扰动 几何精度因子 |
An Adaptive Federated Filtering Algorithm for Dynamic SINS/Multi-satellite Integrated Navigation System |
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| WANG Chun-xia,ZHAO Wei,LIU Rui-hua,LIU Jian-ye. An Adaptive Federated Filtering Algorithm for Dynamic SINS/Multi-satellite Integrated Navigation System[J]. Information and Control, 2008, 37(4): 1-1 |
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| Authors: | WANG Chun-xia ZHAO Wei LIU Rui-hua LIU Jian-ye |
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| Affiliation: | WANG Chun-xia1,ZHAO Wei1,LIU Rui-hua2,LIU Jian-ye1(1.College of Automation Engineering,Nanjing University of Aeronautics , Astronautics,Nanjing 210016,China,2.College of Electronic , Information Engineering,Civil Aviation University of China,Tianjin 300300,China) |
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| Abstract: | In order to improve the precision and reliability of SINS/satellite integrated navigation in dynamic disturbance environment,a filtering algorithm based on dynamic disturbance is presented.The algorithm uses geometry dilution of precision(GDOP)to adaptively adjust the measurement noise and uses the innovation of Kalman filter to control the state covariance matrix.Meanwhile,the information distribution coefficient can be adaptively adjusted according to the time-varying covariance matrix of each subsystem.S... |
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| Keywords: | strapdown inertial navigation system(SINS) integrated navigation adaptive federated filter dynamic disturbance geometry dilution of precision(GDOP) |
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