摘要
在舰船导航过程中为克服单一模型的卡尔曼滤波器对真实系统状态参数发生变化时造成滤波误差过大甚至发散的现象,将多模自适应控制用于导航数据融合处理方法中,设计了组合导航系统的多模型自适应卡尔曼滤波器,通过数字仿真将单一模型的INS/GPS/Doppler组合导航系统与多模自适应控制的组合导航系统的性能进行了比较,表明了多模自适应控制在组合导航系统中可以改善系统的瞬态响应和覆盖大范围的参数不确定性,提高了组合系统的导航精度。
During ship navigating, to solve the error of simple Kalman filter in the process of state parameters of real system changed, multiple model adaptive control method is applied to the intenerated navigation system. Comparing the performance of single model INS/GPS/Doppler integrated navigation system with that of multi-model INS/GPS/Doppler integrated navigation by digital simulation, it is shown that introducing multiple model adaptive control into integrated navigation system can enhance the adaptability of system scheme to the environment and greatly improve the accuracy of integrated navigation system.
出处
《传感技术学报》
EI
CAS
CSCD
北大核心
2006年第2期440-442,共3页
Chinese Journal of Sensors and Actuators
基金
海装'十五'预研项目资助(413090202)
关键词
组合导航
多模控制
卡尔曼滤波
integrated navigation
multiple model control
kalman filter
