| 人工神经网络改进的AHRS/GPS紧耦合滤波算法 |
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| 引用本文： | 夏琳琳,王建国,张利辉,谷丽君. 人工神经网络改进的AHRS/GPS紧耦合滤波算法[J]. 弹箭与制导学报, 2009, 29(6) |
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| 作者姓名： | 夏琳琳 王建国 张利辉 谷丽君 |
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| 作者单位： | 东北电力大学自动化工程学院,吉林吉林,132012 |
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| 基金项目： | 东北电力大学博士科研启动基金 |
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| 摘 要： | 以陆用AHRS/GPS紧耦合系统为研究对象,建立了基于伪距-伪距率-航向角的组合观测数学模型,采用RBF网络辅助的EKF导航滤波器,逼近组合系统的非线性特性,实现自适应的导航参数解算.仿真结果表明:方法可快速、准确地逼近系统非线性模型,估算的姿态角误差均方差较标准EKF减小了约5.9%～22.8%.在传感器精度有限的情况下,所获得的导航精度和动态性能均有提高.
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| 关 键 词： | 人工神经网络 伪距-伪距率-航向角 紧耦合 径向基函数 |
Artificial Neural Network Filter Algorithm Improvement for Tightly-coupled AHRS/GPS |
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| XIA Linlin,WANG Jianguo,ZHANG Lihui,GU Lijun. Artificial Neural Network Filter Algorithm Improvement for Tightly-coupled AHRS/GPS[J]. Journal of Projectiles Rockets Missiles and Guidance, 2009, 29(6) |
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| Authors: | XIA Linlin WANG Jianguo ZHANG Lihui GU Lijun |
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| Affiliation: | XIA Linlin,WANG Jianguo,ZHANG Lihui,GU Lijun (School of Automation Engineering,Northeast Dianli University,Jilin Jilin 132012,China) |
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| Abstract: | The parameter model for land vehicular tightly-coupled AHRS/GPS was built based on fusing pseudo range pseudo-pseudo range rate-heading angle. The radial basis function (RBF) NN aided EKF was designed to approach the nonlinearity of the integrated system,realizing the adaptive estimation for navigation parameters. The simulation indicates the nonlinear model can be approached with high accuracy and rapidity,the RMS of attitude error is decreased by 5.9%~22.8% compared with standard EKF. The accuracy and dyn... |
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| Keywords: | AHRS/GPS AHRS/GPS ANN pseudo range-pseudo-range rate-heading angle tightly-coupled radial basis funiction |
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