SITAN matching algorithm based on adaptive parallel extended kalman filter

被引：0

作者：

Wang A. ^{[1
]}

Li S. ^{[1
]}

Li X. ^{[1
]}

Huang Z. ^{[1
]}

Huang Y. ^{[1
]}

Fan D. ^{[1
]}

机构：

[1] Institute of Geospatial Information, Information Engineering University, Zhengzhou

来源：

Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2022年 / 30卷 / 01期

关键词：

Adaptive factor; Gravity matching navigation; Inertial navigation system; Parallel extended kalman filter;

D O I：

10.13695/j.cnki.12-1222/o3.2022.01.012

中图分类号：

学科分类号：

摘要：

Aiming at the problem of model error in the state equation of SITAN matching algorithm, a SITAN matching algorithm based on adaptive parallel extended Kalman filter is proposed. The weight of the state prediction information is adjusted by the adaptive factor, the filtering divergence is suppressed, and the positioning accuracy is improved. At the same time, the selection and construction of the adaptive factor are discussed, and the reason for the divergence of the SITAN matching algorithm based on the parallel extended Kalman filter is analyzed. Two sea areas in the South Sea with different drastic changes in gravity anomaly characteristics are selected for simulation experiments. The test results show that: in the areas with drastic changes in gravity anomaly characteristics, the algorithm can effectively reduce the positioning error of the inertial navigation system, and the position error can be distinguished from the gravity reference map. Compared with the SITAN matching algorithm based on the parallel extended Kalman filter, the positioning accuracy and robustness of the system are improved. © 2022, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.

引用

页码：81 / 88

页数：7

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