A robust GPS/INS-integrated navigation filtering algorithm design

被引：0
|
作者：
Wang W. [1 ]
Cong N. [1 ]
Wu J. [1 ]
机构：
[1] College of Intelligent Science and Engineering, Harbin Engineering University, Harbin
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2021年 / 42卷 / 02期
关键词：
Adaptive filtering; Batch process; Cascaded filter; Integrated navigation; Kalman filter; Noise statistical characteristics; Unbiased finite impulse response filter; Window filtering;
D O I：
10.11990/jheu.201907006
中图分类号：
学科分类号：
摘要：
In view of the filtering divergence of the Kalman filter and its extended filter when the noise matrix in the filtering is too large to adapt to the actual deviation, the unbiased finite impulse response filter (UFIR) is proposed to realize the state estimation under these conditions. However, there are two problems in the application of UFIR filter to the GPS/INS-integrated system: one is that the method of estimating the optimal filter window length online needs to be improved; the other is that the navigation accuracy is relatively low. In this paper, a cascade filtering algorithm is designed. The main filter improves the UFIR filtering algorithm. The method estimates window size online while improving the existing UFIR algorithm. An adaptive Kalman filter is designed to improve the navigation accuracy by introducing GPS course information from the filter. The proposed filtering algorithm is verified by simulation and actual measurement. The experimental results show that the proposed algorithm can effectively improve the navigation accuracy and robustness of the system. Copyright ©2021 Journal of Harbin Engineering University.
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页码：240 / 245
页数：5
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