西安电子科技大学学报（自然科学版）2011，Vol.38Issue(6)：103-107,122,6.DOI:10.3969/j.issn.1001-2400.2011.06.016
航姿参考系统中一种自适应卡尔曼滤波算法
Algorithm for the adaptive Kalman filter in AHRS
摘要
Abstract
Due to the uncertainty of measurement noise, the accuracy of the Kalman filter is affected seriously while measuring the vehicle attitude in the Attitude and Heading Reference System( AHRS). The sudden change of measurement noise brought by interference of the system even leads to filter divergence. An algorithm for the adaptive Kalman Filter used in AHRS is presented in this paper, which is able to estimate the measurement noise in real time according to observation data and improve the accuracy of the Kalman Filter. Simulation result shows that the results of the Kalman filter diverge clearly even though the measurement noise varies, and that the adaptive Kalman filter results converge very well. The system stability is markedly improved without significant increase in computing complexity.关键词
航姿参考系统/自适应滤波/卡尔曼滤波/模糊控制Key words
attitude and heading reference system/ adaptive filter/ Kalman filter/ fuzzy control分类
信息技术与安全科学引用本文复制引用
田易,孙金海,李金海,阎跃鹏..航姿参考系统中一种自适应卡尔曼滤波算法[J].西安电子科技大学学报（自然科学版）,2011,38(6):103-107,122,6.基金项目
多系统GNSS差分精密定位通用算法研究与软件设计资助项目(2009AA12Z314) （2009AA12Z314）
