APPLYINGSUCCESSIVEORTHOGONALIZATIONDECENTRALIZEDKALMANFILTERTOGPS／INSINTEGRATEDNAVIGATIONSYSTEM

作     者：Liu Jianye He Xiufeng Yuan Xin Department of Automatic Control, NUAA 29 Yudao Street, Nanjing 210016, P. R. China 

出 版 物：《Transactions of Nanjing University of Aeronautics and Astronautics》 (南京航空航天大学学报（英文版）)

年 卷 期：1996年第13卷第1期

页      面：76-81页

学科分类：08[工学] 0825[工学-航空宇航科学与技术] 

主　　题：Kalman filter large system integrated navigation system inertial navigation system GPS 

摘      要：The Successive Orthogonalization Decentralized Kalman Filter (SODKF ) is a new method which is used for large system state estimation. It can be applied not only to large system decentralization, but also to precision realization at approximately the same level of the global filter, thus, making possible the engineering operation as well as shortening the computing time. This paper discusses the principles and features of SODKF when used in GPS/INS integrated navigation system. The system will be firstly divided into three subsystems and then corrected in both open and closed loops. The system simulation results by two integrated patterns show that SODKF is efficient and realizable. While the three subsystems are simulated in series, the computing speed doubles that of the global system. In addition, its optimal estimating precision remains unchanged. It can be concluded from this paper that large integrated navigation systems with GPS, INS, Terrain Match, Loran C, Doppler Radar and Radio Altimeter can be made more efficient by this multi subsystem of navigation.