现代防御技术2024，Vol.52Issue(4)：58-64,7.DOI:10.3969/j.issn.1009-086x.2024.04.006
一种针对组合导航滤波发散问题的改进算法
An Improved Filtering Algorithm for Filtering Divergence in Integrated Navigation
李煜豪 1陈雨 1刘宇航1
作者信息
- 1. 北京航天发射技术研究所,北京 100076
- 折叠
摘要
Abstract
In order to solve the problems of Kalman filter dispersion and inability to accurately track the error changes in the vehicle combination navigation system,an improved adaptive filtering algorithm is designed.By analyzing the judging condition of filter divergence in principle,combining Sage-Husa filtering with multiple fading filtering algorithm,the fading factor is introduced in the filtering process.The filtering state and updating strategy are switched by the divergence condition,so that the state of filter returns to normal in time when divergence occurs.The improved algorithm is subjected to Jetlink inertial guidance/odometer combination navigation simulation tests and track of vehicle experiment.Simulation and experimental results are presented that the divergence of filter can be suppressed,and in the meanwhile,the adaptability and stability of the filter are enhanced to a certain extent.关键词
组合导航/Sage-Husa自适应滤波/多重渐消因子算法/里程计/滤波发散Key words
integrated navigation/Sage-Husa adaptive Kalman filter/multiple fading filtering algorithm/odometer/filtering divergence分类
航空航天引用本文复制引用
李煜豪,陈雨,刘宇航..一种针对组合导航滤波发散问题的改进算法[J].现代防御技术,2024,52(4):58-64,7.
