组合导航系统新息自适应卡尔曼滤波算法

全球定位系统(GPS)量测噪声的不稳定变化将造成惯性导航系统(INS)/GPS舰用组合系统卡尔曼滤波器性能下降,在对自适应卡尔曼滤波器分析的基础上,提出了一种新的基于新息估计的自适应卡尔曼滤波算法.该算法通过计算新息方差强度的极大似然估计最优估计,将新息方差计算直接引入卡尔曼滤波器的增益计算.仿真结果表明,本文方法较标准卡尔曼滤波器可以提高系统精度和抗干扰能力.

The Innovation-Based Estimation Adaptive Kalman Filter Algorithm for INS/GPS Integrated Navigation System

This paper presented an INS/GPS adaptive navigation system for marine application.The GPS with two antennas providing vessel's altitude is selected as the auxiliary navigation system to fuse with INS to obtain better estimation accuracy of INS errors.A novel innovation-based adaptive estimation(IAE) Kalman filtering approach was proposed to solve the degradation of the integrated navigation system caused by GPS unstable measurement disturbs.The developed adaptive Kalman filter is based on the maximum likelihood criterion for the proper computation of the filter innovation covariance and hence the filter gain.The simulation results show that the adaptive Kalman filter outperforms the standard Kalman filter with better accuracy,robustness and less computation.It is demonstrated that this proposed approach is a valid solution for the unknown changing measurement noise exited in Kalman filter.