一种多模型自适应联邦滤波器及其在INS/CNS/GPS组合导航系统中的应用 |
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引用本文: | 李艳华,房建成.一种多模型自适应联邦滤波器及其在INS/CNS/GPS组合导航系统中的应用[J].航天控制,2003,21(2):33-38. |
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作者姓名: | 李艳华 房建成 |
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作者单位: | 北京航空航天大学,北京,100083 |
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基金项目: | 国防预研基金 (项目代号 :0 0J9 2 1HK0 1 ),国防“十五”预研项目资助 |
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摘 要: | 本文介绍一种基于多模自适应估计的联邦滤波器的原理和特点。设计了INS/CNS/GPS组合导航系统的联邦滤波算法 ,并首次将多模自适应估计方法运用到联邦卡尔曼滤波器中。此外 ,联邦滤波器算法中采用自适应调整信息分配系数的方法。仿真结果表明 ,与采用单一模型的联邦滤波算法相比 ,多模自适应方法与联邦滤波方法结合使用能大大提高导航系统的精度和可靠性。
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关 键 词: | 组合导航系统 卡尔曼滤波 联邦滤波器 多模自适应估计 |
修稿时间: | 2003年3月24日 |
A Multi-model Adaptive Federated Filter and It's Application in INS/CNS/GPS Integrated Navigation System |
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Abstract: | This paper introduces the theory and characteristics of federated filter based on multi model adaptive estimation. A federated filter of INS/CNS/GPS integrated navigation system is designed and multi model adaptive estimation method is used in federated Kalman filter for the first time. Furthermore, an adaptive adjustment of the coefficients of information sharing is adopted in federated filter. The results of simulation show that as compared with single model algorithm, multi model adaptive estimation combined with the federated filter can improve accuracy and reliability of integrated navigation system greatly. |
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Keywords: | Subject terms Integrated navigation system Kalman filtering Federated filter Multi-model adaptive estimation |
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