基于不确定融合的GPS/INS 组合导航滤波算法

针对实际车载组合导航系统测量中不确定噪声的问题，提出一种基于不确定融合估计的GPS/INS组合导航滤波算法，建立了导航系统的状态方程和观测方程；通过多信源不确定融合估计，得到多传感器的等效测量值以及误差方差阵；对系统方程进行滤波处理，得到车辆的准确位置。车载系统的实测数据表明，不确定噪声下的融合估计结果优于独立白噪声假设下的融合估计，并验证了所提出算法的有效性和实用性。

GPS/INS integrated navigation filtering algorithm based on uncertainfusion

For the problem of uncertain noise leads to the accuracy decrease of the filter performance, a GPS/INS integrated navigation algorithm based on multi-sensor uncertain effects is presented. The state and measurement equations of the navigation system are established, and the equivalent measurements and the corresponding error matrix are estimated by using the proposed method. The results are submitted into the system model for filtering, and the exact location of the vehicle is obtained. The experiment in GPS/INS navigation system shows that, the fusion result with uncertainty effect is better than the fusion result with independent noise due to the consideration of correlated noise and uncertain effects, and also verifies the effectiveness and practicality of the proposed algorithm.