| 基于自适应卡尔曼滤波的导航信息融合方法 |
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| 引用本文： | 崔平远,侯友轩,裴福俊. 基于自适应卡尔曼滤波的导航信息融合方法[J]. 控制工程, 2011, 18(4): 531-534 |
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| 作者姓名： | 崔平远 侯友轩 裴福俊 |
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| 作者单位： | 北京工业大学电子信息与控制工程学院,北京,100124 |
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| 基金项目： | 国家865高技术研究计划(2006AA12Z305) |
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| 摘 要： | 针对组合导航系统在测量噪声未知的情况下,常规自适应卡尔曼滤波方法的实时性难以满足的问题,提出了一种实时的自适应卡尔曼滤波方法.该方法通过一个简单的指数函数实时调节卡尔曼滤波模型中的测量噪声协方差矩阵,将测量噪声的理论协方差矩阵与实际协方差矩阵的差值作为指数函数的输入,将函数的输出值与上次测量噪声的协方差矩阵之和送入卡尔...
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| 关 键 词： | 组合导航 自适应卡尔曼滤波 指数函数 信息融合 |
Information Fusion of Navigation System Based on Adaptive Kalman Filter |
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| CUI Ping-yuan,HOU You-xuan,PEI Fu-jun. Information Fusion of Navigation System Based on Adaptive Kalman Filter[J]. Control Engineering of China, 2011, 18(4): 531-534 |
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| Authors: | CUI Ping-yuan HOU You-xuan PEI Fu-jun |
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| Affiliation: | CUI Ping-yuan,HOU You-xuan,PEI Fu-jun(School of Electronic Information & Control Engineering,Beijing University of Technology,Beijing 100124,China) |
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| Abstract: | When the measurement noise was unknown in the integrated navigation system,the conventional adaptive Kalman filtering method can not fulfill the requirement of real-time.So a real-time adaptive Kalman filter method is presented in this paper to solve this problem.It uses a simple exponential function to adjust the covariance matrix of measurement noise in Kalman filter model.The input of the exponential function is the difference between the theory covariance and the actual covariance of the measurement noi... |
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| Keywords: | integrated navigation system adaptive kalman filter exponential function information fusion |
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