测控技术2011，Vol.30Issue(3)：114-116,3.
组合导航自适应卡尔曼滤波改进算法研究
An Improved Adaptive Kalman Filter Algorithm for SINS/GPS Integrated Navigation System
李旦 1秦永元 1梅春波1
作者信息
- 1. 西北工业大学自动化学院,陕西西安,710129
- 折叠
摘要
Abstract
A new adaptive Kalman filter algorithm is presented aiming at figure out accretion on the error of Kalman filter when process noise covariance matrix (Q) and measurement noise covariance matrix (R) are incorrectly with actual noise. The algorithm estimates R based on innovation sequence of measure and Q through an improved Sage-Husa adaptive filter, which can keep the filter work steadily and correctly when Q and R are unknown. Practical test on the new approach and the conventional Kalman filter algorithm comparably is given,the results demonstrate that the new algorithm is valid when applied in SINS/GPS integrated navigation system.关键词
卡尔曼滤波/自适应滤波/新息序列/Sage-Husa滤波/组合导航Key words
Kalman filtering/ adaptive filtering/ innovation sequence/ sage-husa filtering/ integrated navigation分类
交通工程引用本文复制引用
李旦,秦永元,梅春波..组合导航自适应卡尔曼滤波改进算法研究[J].测控技术,2011,30(3):114-116,3.
