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1.
IMU/GPS组合导航系统自适应Kalman滤波算法 总被引：10，自引：0，他引：10
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。 相似文献
2.
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 总被引：1，自引：1，他引：0
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. 相似文献
3.
Adaptive estimation of multiple fading factors in Kalman filter for navigation applications 总被引：2，自引：1，他引：1
Kalman filter is the most frequently used algorithm in navigation applications. A conventional Kalman filter (CKF) assumes
that the statistics of the system noise are given. As long as the noise characteristics are correctly known, the filter will
produce optimal estimates for system states. However, the system noise characteristics are not always exactly known, leading
to degradation in filter performance. Under some extreme conditions, incorrectly specified system noise characteristics may
even cause instability and divergence. Many researchers have proposed to introduce a fading factor into the Kalman filtering
to keep the filter stable. Accordingly various adaptive Kalman filters are developed to estimate the fading factor. However,
the estimation of multiple fading factors is a very complicated, and yet still open problem. A new approach to adaptive estimation
of multiple fading factors in the Kalman filter for navigation applications is presented in this paper. The proposed approach
is based on the assumption that, under optimal estimation conditions, the residuals of the Kalman filter are Gaussian white
noises with a zero mean. The fading factors are computed and then applied to the predicted covariance matrix, along with the
statistical evaluation of the filter residuals using a Chi-square test. The approach is tested using both GPS standalone and
integrated GPS/INS navigation systems. The results show that the proposed approach can significantly improve the filter performance
and has the ability to restrain the filtering divergence even when system noise attributes are inaccurate. 相似文献
4.
针对GPS/DR组合导航Kalman滤波的异常扰动影响问题,引入了自适应滤波算法。给出了由预测残差确定自适应因子的过程。利用实测数据进行验证,结果表明无论是单因子自适应滤波还是多因子自适应滤波都能够很好地控制状态异常对滤波估值的影响,滤波精度均优于标准Kalman滤波导航解;而且因为多因子自适应滤波避免损失可靠的状态参数信息,较单因子自适应滤波,精度又有明显提高。 相似文献
5.
针对组合导航观测个数少、采用单因子自适应滤波会损失间接可测参数精度的问题,利用预测残差和选权滤波思想构造了分类自适应因子。实测算例计算结果表明,该算法不仅能够很好地控制状态扰动异常影响,而且还能避免损失间接可测参数的精度,进一步提高了导航精度。 相似文献
6.
简要介绍了GPS/INS松组合导航系统状态方程和观测方程。针对标准Kalman滤波算法存在的状态方程截断误差、噪声统计特性的不确定性以及状态扰动异常的影响,给出了一种应用于GPS/INS组合导航系统的迭代滤波算法。该算法采用迭代策略,不断利用观测信息实时修正状态预报值。实测数据计算结果表明,通过对状态预报值的实时修正,该算法能够很好地抑制状态预报信息的不确定性和扰动异常等对导航解的影响。其滤波解精度明显优于标准Kalman滤波。 相似文献
7.
在多星座组合导航应用于高动态场景时,由于受加速度变化范围大、动态噪声和观测噪声难以准确预测等因素影响,常规联邦滤波估计精度将会严重下降甚至发散。针对这一问题,提出将强跟踪滤波算法应用到容错型联邦滤波器中,构成容错型联邦强跟踪滤波器。对COMPASS/GPS/GLONASS组合导航系统进行的仿真结果表明:该算法设计灵活,容错性强,对高动态目标有较强的跟踪能力,能够显著提高导航定位的精度和可靠性。同时,由于组合应用了无重置联邦滤波结构和渐消矩阵一步次优算法、残差χ2检验算法等实用算法,使得该算法整体计算量适中,易于实现,具有一定的工程实用价值。 相似文献
8.
A reduced inertial measurement unit (IMU) consisting of only one vertical gyro and two horizontal accelerometers or three orthogonal accelerometers can be used in land vehicle navigation systems to reduce volume and cost. In this paper, a reduced IMU is integrated with a Global Positioning System (GPS) receiver whose phase lock loops (PLLs) are aided with the Doppler shift from the integrated system. This approach is called tight integration with loop aiding (TLA). With Doppler aiding, the noise bandwidth of the PLL loop filters can be narrowed more than in the GPS-only case, which results in improved noise suppression within the receiver. In this paper, first the formulae to calculate the PLL noise bandwidth in a TLA GPS/reduced IMU are derived and used to design an adaptive PLL loop filter. Using a series of vehicle tests, results show that the noise bandwidth calculation formulae are valid and the adaptive loop filter can improve the performance of the TLA GPS/reduced IMU in both navigation performance and PLL tracking ability. 相似文献
9.
带约束条件的自适应滤波及其在GPS定位中的应用 总被引：6，自引：0，他引：6
推导了约束状态下的卡尔曼滤波递推方程,采用不消去状态参数的方法,在卡尔曼滤波的数学模型中增加约束状态方程推导出约束状态下的卡尔曼滤波递推方程.表明采用带约束条件的滤波递推过程与一般卡尔曼滤波递推方程相似,只要对预报值及其协方差增加一项约束条件改正项即可,因此,在滤波计算上不需要做大的修改.还讨论了带约束条件的卡尔曼滤波的自适应算法,说明一般自适应滤波算法同样适用于带约束条件的滤波,因此在应用上非常便利.利用一组GPS动态定位数据中的伪距观测值进行计算分析,并以距离作为一个约束条件,结果显示约束条件对滤波结果的改善程度与约束条件和动态系统本身有关.对于一般卡尔曼滤波中因模型确定误差和动态目标突然加速而导致的滤波发散现象,如果增加约束条件的约束力较小时,同样会出现滤波结果偏离,因此,带约束条件的滤波同样需要考虑滤波的自适应性. 相似文献
10.
车载IMU相对于车体的安装姿态信息是应用车辆非完整约束的必需条件,而车辆非完整约束可以有效解决GNSS信号长时间中断的情形下低成本INS+GNSS组合导航系统精度降低的问题。本文针对车载场景下的低成本消费级IMU,基于卡尔曼滤波和粒子滤波提出了一种估计IMU安装姿态的算法。该算法无需限制IMU相对于车体的姿态为小角度;随后,基于仿真平台对低成本消费级IMU进行建模,利用生成的若干组不同安装姿态的IMU数据对算法进行验证;最后进行车载测试。仿真结果和车载测试结果都表明,该算法可以准确地估计IMU相对于车体的安装姿态,对于低成本INS+GNSS组合导航系统精度的提高具有实际意义。 相似文献
11.
介绍了一种低成本微小型惯性测量组件(inertialmeasurementunit,IMU)和双天线GPS构成的组合定位定向系统。为确保组合系统的实时性和滤波稳定性,提出了一种基于UD分解的快速卡尔曼滤波算法,给出了IMU/GPS组合系统的软硬件设计和实验结果。该组合系统应用于炮兵测地车,具有成本低、精度高等优点,能够提高炮兵测地保障的精度和速度。 相似文献
12.
13.
基于Kalman滤波的动力学模型误差估计算法 总被引：1，自引：1，他引：0
本文分析介绍了模型误差对滤波解和预报残差影响的表达式.随后,针对GPS/INS松组合导航系统观测信息无冗余的情况,给出了基于Kalman滤波的动力学模型误差估计算法.最后利用一个车载实测数据证明了算法的有效性. 相似文献
14.
本文利用Kalman滤波方法对动态测量进行数据处理,由于高动态的GPS测量,不易确定系统动态噪声和观测噪声.同时标准的Kalman滤波在应用过程中由于状态模型确定的误差存在,滤波效果不佳.因此本文结合动态导航的实时性和高动态性,建立了动态导航系统中滤波状态方程和观测方程,采用改进的Sage-Husa自适应滤波对来进行实时定位数据处理,利用已有测量数据进行了实例分析.改进的Sage-Husa自适应滤波在计算过程中计算量小,结果稳定,有较强的自适应性. 相似文献
15.
The problem of navigation systems with uncertain noise is considered. A minimax robust filtering which can minimize the worst
performance under noise uncertainties using the game theory is proposed. This new filter is applied to an integrated GPS/INS
navigation system. A high dynamics aircraft trajectory is designed to test the new filter. The results show that minimax robust
filtering performs better than standard Kalman filtering when noise parameters of an inertial measurement unit change their
statistical properties.
Received: 21 October 1997 / Accepted: 26 May 1999 相似文献
16.
基于多尺度分析的思想,以离散小波变换为工具,利用小波对惯性元件输出的信息进行并行阈值消噪以削弱惯性元件误差对SINS及组合系统性能的影响;然后,对GPS输出的信息进行并行多尺度预处理,并结合传统的Kalman滤波方法,对系统进行综合滤波;将上述方法引入到GPS/SINS组合导航系统中,利用实测数据进行验证,并给出了基于不同方法的大量实验曲线。实验结果表明,该方法可以有效削弱惯性元件以及GPS误差对系统的影响,提高了GPS/SINS组合导航系的精度和可靠性。 相似文献
17.
Dong-Hwan Hwang Sang Heon Oh Sang Jeong Lee Chansik Park Chris Rizos 《GPS Solutions》2005,9(4):294-311
Due to their complementary features of GPS and INS, the GPS/INS integrated navigation system is increasingly being used for
a variety of commercial and military applications. An attitude determination GPS (ADGPS) receiver, with multiple antennas,
can be more effectively integrated with a low-cost IMU since the receiver gives not only position and velocity data but also
attitude data. This paper proposes a low-cost attitude determination GPS/INS integrated navigation system. The proposed navigation
system comprises an ADGPS receiver, a navigation computer unit (NCU), and a low-cost commercial MEMS IMU. The navigation software
includes a fault detection and isolation (FDI) algorithm for integrity. In order to evaluate the performance of the proposed
navigation system, two flight tests have been performed using a small aircraft. The first flight test confirmed the fundamental
operation of the proposed navigation system and the effectiveness of the FDI algorithm. The second flight test evaluated the
performance of the proposed navigation system and demonstrated the benefit of GPS attitude information in a high dynamic environment.
The flight test results show that the proposed ADGPS/INS integrated navigation unit gives reliable navigation performance
even when anomalous GPS data is provided and gives better navigation performance than a conventional GPS/INS unit. 相似文献
18.
19.
基于多传感器观测信息抗差估计的自适应融合导航 总被引：7，自引：0，他引：7
首先利用抗差估计原理构造了基于观测信息的融合导航解，再利用动力学模型信息进行自适应融合，最后利用模拟算例进行多种方案的计算与比较。 相似文献
20.
强跟踪抗差自适应滤波算法及其在无人机导航定位中的应用 总被引：1，自引：0，他引：1
针对Sage-Husa自适应滤波算法在无人机导航定位应用中存在滤波发散和定位精度低的问题,本文提出一种强跟踪抗差自适应滤波算法。该算法在Sage-Husa自适应滤波算法基础上,引入强跟踪技术,通过自适应渐消因子降低历史数据对当前滤波的影响,从而抑制滤波发散,增强算法的稳健性;结合量测噪声和系统噪声进行实时估计,并且在估计中加入抗差因子抑制粗差对滤波的干扰,提高定位精度。仿真结果表明,该算法在发生滤波发散和粗差干扰的情况下能够表现出良好的滤波性能,较Sage-Husa算法有更强的稳健性。 相似文献