AN EXTENDED ADAPTIVE KALMAN FILTERING IN TIGHT COUPLED GPS/INS INTEGRATION

被引：11
作者：
Wu Fu-mei [1 ,2 ]
Yang Yuan-xi [2 ]
机构：
[1] Zhengzhou Inst Surveying & Mapping, Zhengzhou 450052, Peoples R China
[2] Xian Res Inst Surveying & Mapping, Xian 710054, Peoples R China
来源：
SURVEY REVIEW | 2010年 / 42卷 / 316期
关键词：
Tight coupled GPS/INS integrated; Adaptive filtering; Extended adaptive Kalman filtering; PDOP;
D O I：
10.1179/003962610X12572516251646
中图分类号：
TU [建筑科学];
学科分类号：
0813 ;
摘要：
In tight coupled GPS/INS integration by using Kalman filtering, the main error includes not only the dynamic model error (INS error), but also the errors caused by the poor geometry of GPS satellites or short of GPS satellites. In this paper, an extended adaptive Kalman filtering algorithm is presented based on the adaptive filter The new algorithm can not only, resist the influence of the dynamic model errors but also control the influence of the errors caused by the poor geometry of GPS satellites by adjusting the coefficient matrix of the predicted states. An actual computation example shows that the new algorithm can degrade the influence of the two kinds of errors and improve the precision of navigation.
引用
收藏
页码：146 / 154
页数：9
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