| 重力辅助惯性导航的匹配算法初探 |
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| 引用本文： | 孙岚.重力辅助惯性导航的匹配算法初探[J].海洋测绘,2006,26(1):44-46. |
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| 作者姓名： | 孙岚 |
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| 作者单位： | 解放军信息工程大学,测绘学院,河南,郑州,450052 |
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| 摘 要： | 对重力辅助惯性导航技术的基本原理进行了分析,将采样卡尔曼滤波算法用于重力图形匹配。滤波通过设计少量的Σ点,并计算这些Σ点的经由非线性函数的传播,从而获得滤波值基于非线性状态方程的更新,较广义卡尔曼滤波具有计算精度高、便于计算的特点。
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| 关 键 词： | 惯性导航系统 重力辅助惯性导航 Σ点 采样卡尔曼滤波 |
| 文章编号： | 1671-3044（2006）01-0044-03 |
| 收稿时间： | 2005-09-14 |
| 修稿时间： | 2005-10-30 |
Research on the Matching Method in Gravity Aided INS |
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| SUN Lan.Research on the Matching Method in Gravity Aided INS[J].Hydrographic Surveying and Charting,2006,26(1):44-46. |
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| Authors: | SUN Lan |
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| Institution: | Institute of Survey and Mapping, Information Engineering University, Zhengzhou, Henan ,450052 |
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| Abstract: | The basic theory of the gravity aided inertial navigation system is described and analyzed.The unscented Kalman filtering is applied in the gravity map matching.In unscented Kalman filtering,the updating of the filtering based on the nonlinear state space equation is realized by designing a few sigma points and calculating the propagation of these sigma points via non-linear functions.It is more precise and more convenient in computing. |
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| Keywords: | inertial navigation system(INS) gravity aided inertial navigation system sigma point unscented Kalman filtering |
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