| 两种车载导航分散滤波算法对比及应用研究 |
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| 引用本文： | 杨朝明,蒋军彪,黄超凡,田荣军.两种车载导航分散滤波算法对比及应用研究[J].弹箭与制导学报,2009,29(6). |
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| 作者姓名： | 杨朝明 蒋军彪 黄超凡 田荣军 |
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| 作者单位： | 1. 中国兵器工业第203研究所,西安,710065;国防科学技术大学航天与材料工程学院,长沙,410073
2. 中国兵器工业第203研究所,西安,710065 |
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| 摘 要： | 针对航位推算/惯性导航/GPS(DR/INS/GPS)组合导航系统的多信息源融合,提出了基于局部反馈校正的联邦滤波和串级滤波两种算法,并进行对比研究.跑车实验结果证明,两种分散滤波算法在正常导航(无传感器故障)情况下都能有效提升车载导航系统的精度和可靠性,且前者定位精度较后者高;但后者能够消除DR误差前期积累,避免GPS失效时的定位输出"突跳"和"毛刺",具有更好的应用价值.
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| 关 键 词： | 车载导航系统 联邦滤波 分散滤波 局部反馈 卡尔曼滤波 |
Two Decentralized Filtering Algorithms Compare and Application on Vehicle Navigation |
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| YANG Chaoming,JIANG Junbiao,HUANG Chaofan,TIAN Rongjun.Two Decentralized Filtering Algorithms Compare and Application on Vehicle Navigation[J].Journal of Projectiles Rockets Missiles and Guidance,2009,29(6). |
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| Authors: | YANG Chaoming JIANG Junbiao HUANG Chaofan TIAN Rongjun |
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| Affiliation: | YANG Chaoming1,2,JIANG Junbiao1,HUANG Chaofan1,TIAN Rongjun1 (1 No.203 Research Institute of China Ordnance Industries,Xi'an 710065,China,2 School of Astronautics , Materials Engineering,NUDT,Changsha 410073,China) |
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| Abstract: | Comparative study local feedback federal filtering and cascaded filtering algorithm,for DR/INS/GPS integrated navigation for vehicle system of multi-sources information fusion. The vehicle-experimental result proved that,both algorithm can improve the precision and reliability under normal condition (without sensor failure); furthermore,the algorithm based on local feedback federal filtering has higher position precision; however,the cascaded filtering can eliminate previous DR error accumulation,avoid burs... |
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| Keywords: | vehicle navigation system federal filtering decentralized filtering local feedback Kalman filtering |
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