摘要
介绍了一种以DSP为核心的MIMU/GPS组合导航系统设计,它具有体积小、成本低等优点。针对系统噪声难于准确统计的情况,系统采用了一种适用于系统噪声协方差阵未知情况下的自适应卡尔曼滤波算法,用它作为组合算法,并对组合导航系统进行了数字仿真。结果表明:该自适应滤波算法可以有效地抑制滤波发散,增强了系统对环境的适应性。
This paper introduces the design of MIMU/GPS integrated navigation system based on digital signal processor (DSP). The system has advantages of small volume and low cost. Because of the difficulty of presenting the system noise accurately, an adaptive Kalman filtering algorithm with unknown system noise covariance matrix is adopted in the integrated navigation system and the computer simulation is made as well. The result shows that this algorithm can restrain the divergence effectively and has enhanced adaptive ability.
出处
《中国惯性技术学报》
EI
CSCD
2003年第3期12-15,共4页
Journal of Chinese Inertial Technology
