摘要
提出了多重衰减因子自适应估计卡尔曼滤波方法,用该方法对系统每个误差状态估计进行控制,提高滤波器的估计性能。仿真结果表明,新算法在系统噪声特性不准确的情况下,能够抑制卡尔曼滤波估计的发散,GPS/SINS组合导航精度比强跟踪滤波估计的精度高。这种算法推导形式简单,计算量小,适合在线运算。
A new adaptive estimation of multiple fading Kalman filter is proposed, which can control each error status estimation of the system and improve the effect of filtering. The simulation result shows that the proposed method can restrain the filtering divergence when system noise attributes are not accurate, and has better effect than that of strong tracking filter. The new method derivation is simple, and the computation burden is low. This is adapted for the online calculation.
出处
《中国惯性技术学报》
EI
CSCD
2004年第2期18-22,共5页
Journal of Chinese Inertial Technology
基金
国防"十五"预研项目资助(413220403)
