兵工自动化2024，Vol.43Issue(9)：1-6,6.DOI:10.7690/bgzdh.2024.09.001
模糊自适应Kalman滤波算法在SINS/DR组合导航的应用
Application of Fuzzy Adaptive Kalman Filtering Algorithm in SINS/DR Integrated Navigation
许建国 1周源 1王少蕾1
作者信息
- 1. 海军工程大学兵器工程学院,武汉 430033
- 折叠
摘要
Abstract
Aiming at the problem that odometer measurement error leads to the reduction of integrated navigation accuracy,a fuzzy adaptive algorithm based on the combination of system working state and filter innovation state is proposed.According to the change of the innovation,the fuzzy rules are determined,and the output gain of the odometer is corrected,so that the innovation is always kept near the zero mean value,and the observation noise variance is corrected by using the corrected innovation,so that the deviation of the navigation positioning is reduced.The simulation results show that this algorithm can improve the accuracy of integrated navigation and positioning.关键词
SINS/DR组合导航/里程仪/模糊自适应算法/Kalman滤波Key words
SINS/DR integrated navigation/odometer/fuzzy adaptive algorithm/Kalman filtering分类
交通工程引用本文复制引用
许建国,周源,王少蕾..模糊自适应Kalman滤波算法在SINS/DR组合导航的应用[J].兵工自动化,2024,43(9):1-6,6.
