摘要
:从Kalman滤波技术的稳定性出发 ,分析了Kalman滤波算法的实质及容易发散的原因。提出在Kalman滤波中引入系统量测噪声协方差阵 (R)的计算 ,并对其加权 ,从而影响滤波增益 ,抑制发散。推算舰位
From the stability of Kalman filter,the essence of Kalman filter and the reasons of the instability of Kalman filter are analyzed.The calculation of measurement noise covariance(R)is added to the normal Kalman filter.R is weighted then influences the filter plus to overcome the instability of filter.The simulation of reckoning/GPS integrated navigation system shows the measurement noise automatic weight algorithm is self adaptive to the error of model and measurement noise covariance.
出处
《青岛大学学报（工程技术版）》
CAS
2002年第1期1-5,共5页
Journal of Qingdao University(Engineering & Technology Edition)
