| SINS／GPS级联组合滤波新算法 |
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| 引用本文： | 刘广军,吴晓平.SINS／GPS级联组合滤波新算法[J].测绘学院学报,2001,18(3):176-178. |
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| 作者姓名： | 刘广军 吴晓平 |
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| 作者单位： | 信息工程大学测绘学院 河南郑州450052
(刘广军)，信息工程大学测绘学院 河南郑州450052(吴晓平) |
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| 摘 要： | 针对级联式SINS／GPS导航系统中组合滤波器的测量噪声与系统噪声的相关问题，提出了一种相关程度未知条件下的估计量最优融合算法，并由此得到了一个顾及噪声相关性的的卡尔曼滤波新算法；通过对一套SINS／GPS数据的计算，证明了新算法是成功的。
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| 关 键 词： | SINS/GPS 组合导航 卡尔曼滤波 数据融合 噪声 全球定位系统 |
A New Kalman Filtering Algorithm for SINS/GPS Cascaded Navigation System |
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| LIU Guang-jun,WU Xiao-ping.A New Kalman Filtering Algorithm for SINS/GPS Cascaded Navigation System[J].Journal of Institute of Surveying and Mapping,2001,18(3):176-178. |
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| Authors: | LIU Guang-jun WU Xiao-ping |
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| Abstract: | To deal with the correlations between the observation noises and the system noises of the integrated filter of the SINS/GPS cascaded navigation system, this paper addresses a new optimal estimates fusion method under the condition that the degrees of correlations are unknown. Based on it, a new Kalman filtering algorithm is present, and it is proven practical in the application of calculating a set of SINS/GPS data. |
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| Keywords: | SINS/GPS integrated navigation Kalman filter data fusion |
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