计算机应用与软件2024，Vol.41Issue(6)：282-286,5.DOI:10.3969/j.issn.1000-386x.2024.06.041
基于VB-EKF的GPS/INS松组合导航定位算法
GPS/INS LOOSE INTEGRATED NAVIGATION AND POSITIONING ALGORITHM BASED ON VB-EKF
摘要
Abstract
The GPS/INS loose integrated navigation system applied in UAVs is affected by external noise interference,causing the measurement noise to constantly change in the filtering process,so that the filtering accuracy is reduced.Aimed at this problem,an algorithm based on variational Bayesian extended Kalman filtering(VB-EKF)is proposed.The algorithm used EKF to expand the state function and measurement function of the nonlinear system into a linear equation,and the data of two different navigation systems were fused,so as to avoid the divergence of navigation and positioning of the single system.Considering the time-varying characteristics of measurement noise in the combined system,variational Bayesian algorithm was introduced to improve and effectively solve the problem of the system filtering accuracy decline.The simulation results show that compared with EKF algorithm,VB-EKF algorithm can effectively improve the filtering stability,thereby improving the accuracy of system navigation and positioning.关键词
无人机/全球定位系统/惯性导航系统/组合导航/变分贝叶斯/扩展卡尔曼滤波Key words
UAV/GPS/INS/Integrated navigation/Variational Bayes/Extended Kalman filtering分类
信息技术与安全科学引用本文复制引用
侯华,程萌,黄鼎盛,郭胜杰,王天昊..基于VB-EKF的GPS/INS松组合导航定位算法[J].计算机应用与软件,2024,41(6):282-286,5.基金项目
河北省教育厅科学技术研究重点项目(ZD2019019). （ZD2019019）
