顾及动力学模型误差影响的GPS/INS组合导航自适应滤波算法
GPS/INS Adaptive Filtering Considering the Influences of Kinematic Model Errors
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摘要: 在顾及动力学模型随机误差的情况下,设计了一种GPS/INS自适应滤波算法。针对BP神经网络存在的训练速度慢、易陷入局部极小值等问题,对神经网络学习算法进行了改进。利用神经网络进一步减小系统误差对导航解的影响,给出了顾及动力学模型随机误差和系统误差的GPS/INS自适应滤波算法,并利用实测数据验证了算法的有效性。Abstract: An adaptive filtering for GPS/INS integrated navigation is designed,considering the influences of stochastic errors.An improved BP neural network learning algorithm is set up,on the basis of it,a new GPS/INS adaptive filtering that combines the adjustment of stochastic errors and systematic errors is put forward.The results prove that the algorithms are valid and reliable when applied in GPS/INS integrated navigation system.
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