Adaptive Federal Kalman Filtering for SINS/GPS Integrated System

作     者：杨勇 缪玲娟 

作者机构：Department of Automatic Control 

出 版 物：《Journal of Beijing Institute of Technology》 (北京理工大学学报（英文版）)

年 卷 期：2003年第12卷第4期

页      面：371-375页

核心收录：

学科分类：081802[工学-地球探测与信息技术] 08[工学] 081105[工学-导航、制导与控制] 0818[工学-地质资源与地质工程] 0804[工学-仪器科学与技术] 0811[工学-控制科学与工程] 

基　　金：theMinisterialLevelAdvancedResearchFoundation( 13 0 90 40 0 ) 

主　　题：SINS/GPS integrated navigation federal Kalman filtering adaptive filtering 

摘      要：A new adaptive federal Kalman filter for a strapdown integrated navigation system/global positioning system (SINS/GPS) is given. The developed federal Kalman filter is based on the trace operation of parameters estimation s error covariance matrix and the spectral radius of update measurement noise variance-covariance matrix for the proper choice of the filter weight and hence the filter gain factors. Theoretical analysis and results from simulation in which the SINS/GPS was compared to conventional Kalman filter are presented. Results show that the algorithm of this adaptive federal Kalman filter is simpler than that of the conventional one. Furthermore, it outperforms the conventional Kalman filter when the system is undertaken measurement malfunctions because of its possession of adaptive ability. This filter can be used in the vehicle integrated navigation system.