GUI Qingming, HAN Songhui. Adaptation of Model Errors in Kalman Filtering[J]. Geomatics and Information Science of Wuhan University, 2010, 35(8): 983-987.
Citation: GUI Qingming, HAN Songhui. Adaptation of Model Errors in Kalman Filtering[J]. Geomatics and Information Science of Wuhan University, 2010, 35(8): 983-987.

Adaptation of Model Errors in Kalman Filtering

Funds: 国家自然科学基金资助项目(40974009);河南省基础与前沿技术研究计划资助项目(082300410240);郑州市科技攻关计划资助项目(0910SGYG21198)
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  • Received Date: June 14, 2010
  • Revised Date: June 14, 2010
  • Published Date: August 04, 2010
  • Based on predicted residual analysis and estimation of filtering errors,a new Kalman filter approach to correct model errors is proposed.Considering the expression of predicted residual,there is no need to discuss whether model errors are from measurement model or dynamic model.Based on the estimation of filtering errors,we just need to correct the measurement model to clear up the whole effects of model errors on the filtering value at current time.A GPS kinematic navigation calculative experiment is given to prove the feasibility of this method.It not only eliminates the whole effect of Kalman filtering model errors efficiently,but also has a good result.
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