惯性/重力组合导航中的非线性滤波算法
首发时间:2008-09-12
摘要:本文在分析惯性/重力组合导航系统的基础上,给出了估计惯性导航系统位置误差的非线性滤波算法。系统的观测方程是非线性方程,因此不能直接使用传统卡尔曼滤波。分析设计了基于扩展卡尔曼滤波(EKF)和σ点卡尔曼滤波(SPKF),经分析知基于σ点卡尔曼滤波的组合算法理论上更加精确,这种组合算法可用来抑制惯导误差,提高导航精度。
关键词: 惯性导航系统 重力导航 扩展卡尔曼滤波 σ点卡尔曼滤波
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Nonlinear Filtering Arithmetic in Inertial/Gravity Navigation
Abstract:The inertial /gravity navigation system was analyzed., and the nonlinear filtering method for estimating the position error of inertial navigation system(INS) was put forward. The observation equation of the system is nonlinear equation, so we can nor use traditional Kalman filter. We analyzed and designed filtering method based on extended Kalman filter(EKF) and Sigma-Point Kalman Filter(SPKF). The SPKF is more accurate, this method could be used to limit the INS error, and improve the navigation precision.
Keywords: inertial gravity navigation systerm extended Kalman filer(EKF) Sigma-Point Kalman filter(SPKF)
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No.2398831083612211****
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