扩展卡尔曼滤波在组合导航中的应用

松组合导航中,采用组合导航系统(SINS)误差作为状态量,用SINS解算的位置和速度与全球定位系统(GPS)测量的位置速度之差作为量测信息.为了提高组合导航的精度在松组合导航中应用扩展卡尔曼(EKF)滤波算法,通过仿真对载体轨迹的速度、姿态、位置进行跟踪.仿真结果表明:在仿真进入8 min之后系统进入稳态,能准确跟踪载体.因此,采用基于EKF的非线性滤波能有效跟踪载体的位置、速度和姿态.

Application of EKF in integrated navigation system

In loose combined navigation system,using the SINS error as state quantity ,the difference between the position and velocity of the SINS solution and the difference of position and velocity measured by GPS as measurement information. In order to improve the precision of integrated navigation,using the eatended Kalman filtering (EKF ) algorithm in loose combination of navigation,through simulation,trajectory speed,attitude, position tracking of the carrier are carried out. The simulation results show that the system enters the steady state after 8 minutes,and it can accurately track the carrier. Therefore,the nonlinear filtering based on EKF can effectively track the position,velocity and attitude of the carrier.