| GPS/DR组合导航自适应Kalman滤波算法 |
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| 作者单位： | 信息工程大学测绘学院，西安测绘研究所，西安测绘研究所 河南郑州450052，西安测绘研究所，陕西西安710054，陕西西安710054，陕西西安710054 |
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| 摘 要： | 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。
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| 关 键 词： | GPS/DR组合导航 单因子自适应滤波 多因子自适应滤波 Kalman滤波 |
Adaptive Filtering Algorithm in GPS/DR Integrated Navigation |
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| Authors: | WU Fu-mei YANG Yuan-xi TIAN Yu-min |
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| Institution: | WU Fu-mei1,2,YANG Yuan-xi2,TIAN Yu-min2 |
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| Abstract: | An adaptive Kalman filtering is applied in GPS/DR integrated navigation to control the influences of outlying movement disturbances.In this paper,the multi adaptive factors of the predicted states were given by the predicted residuals.By real data processing,it was shown that both the adaptive factor and the multi adaptive factors could resist the influence of the state disturbances,and the precision of the navigation is higher than that of the standard Kalman filtering.And the multi adaptive factors improved the precision greatly compared with the adaptive factor because they avoided loosing the efficiency of the reliable state parameters. |
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| Keywords: | GPS/DR integrated navigation adaptive factor filtering multi adaptive factors filtering Kalman filtering |
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