采用渐消卡尔曼滤波器防止捷联惯导系统滤波发散研究

为了有效防止捷联惯导系统滤波发散，从卡尔曼滤波原理出发并对滤波发散的原因进行了研究，介绍了渐消卡尔曼滤波原理、遗忘因子等内容，通过对渐消因子的推导及计算机仿真，给出了常规卡尔曼滤波器和渐消卡尔曼滤波器对系统进行滤波的结果比较．该结果表明，采用渐消卡尔曼滤波器工程实践上确实可以解决的捷联惯导系统滤波发散的问题．

Study on Preventing Strapdown Inertial Navigation System from Filter Distortion by Adopting Reducing Kalman Filter

To effectively prevent strapdown inertial navigation system from distortion of filter,principle of kalman filter and the reasons of distortion of filter are studied,the principle of reducing kalman filter and oblivional factor are also introduced.Through derivation of reducing factor and simulation,the filtrate effect on system of reducing kalman filter is compared with general kalman filter.The results show that applications of reducing kalman filter in engineering practice can surely prevent strapdown intertial navigation system form distortion of filter.