[1]王伟,丛宁,邬佳.一种鲁棒GPS/INS组合导航滤波算法设计[J].哈尔滨工程大学学报,2021,42(2):240-245.[doi:10.11990/jheu.201907006]
 WANG Wei,CONG Ning,WU Jia.A robust GPS/INS-integrated navigation filtering algorithm design[J].Journal of Harbin Engineering University,2021,42(2):240-245.[doi:10.11990/jheu.201907006]
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一种鲁棒GPS/INS组合导航滤波算法设计(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
42
期数:
2021年2期
页码:
240-245
栏目:
出版日期:
2021-02-05

文章信息/Info

Title:
A robust GPS/INS-integrated navigation filtering algorithm design
作者:
王伟 丛宁 邬佳
哈尔滨工程大学 智能科学与工程学院, 黑龙江 哈尔滨 150001
Author(s):
WANG Wei CONG Ning WU Jia
College of Intelligent Science and Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
组合导航卡尔曼滤波器无偏有限冲击响应滤波器窗口滤波级联滤波器噪声统计特性自适应滤波批处理过程
分类号:
V249.3
DOI:
10.11990/jheu.201907006
文献标志码:
A
摘要:
针对卡尔曼及其扩展算法在滤波中噪声矩阵与实际偏差过大时出现滤波发散的情况,本文提出利用无偏有限冲击响应滤波器(UFIR)实现该背景下的状态估计。但将UFIR滤波器应用于GPS/INS组合系统存在2个问题:1)在线估计最佳滤波窗长的方法还有待改善;2)导航精度较低。本文设计了一种级联式滤波算法,主滤波器对UFIR滤波算法进行改进,设计在线估计窗口大小方法的同时,改进了现有的UFIR算法;从滤波器引入GPS的航向信息,设计一种自适应卡尔曼滤波以提高导航精度。通过仿真和实测对所提滤波算法进行了验证,实验结果表明该算法可以有效提高导航精度和系统的鲁棒性。

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备注/Memo

备注/Memo:
收稿日期:2019-07-01。
基金项目:国家自然科学基金项目(61571148,61871143).
作者简介:丛宁,女,硕士研究生;王伟,男,教授,博士生导师.
通讯作者:王伟,E-mail:wangwei407@hrbeu.edu.cn.
更新日期/Last Update: 2021-02-27