IMU/GPS组合导航系统自适应Kalman滤波算法
Application of Adaptive Kalman Filtering Algorithm in IMU/GPS Integrated Navigation System
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摘要: 给出了IMU在地固坐标系中的误差方程,介绍并分析了自适应滤波和渐消Kalman滤波算法原理,然后将渐消因子引入到自适应滤波算法中,并将其应用到IMU/GPS松组合导航系统中,最后利用一个实际算例证明了该组合导航系统的有效性。Abstract: The IMU error equations in the earth fixed coordinates are introduced firstly.A fading Kalman filtering is simply introduced and its shortcomings are analyzed,then an adaptive filtering is applied in IMU/GPS integrated navigation system,in which the adaptive factor is replaced by the fading factor.A practical example is given.The results prove that the adaptive filter combined with the fading factor is valid and reliable when applied in IMU/GPS integrated navigation system.
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