基于强跟踪滤波的GPS/INS组合导航系统对准技术研究

针对卡尔曼滤波鲁棒性较差的问题，研究了基于强跟踪滤波方法的GPS/INS对准。建立了GPS/INS组合导航系统对准的误差模型，对机载装备系统进行GPS/INS组合导航系统的对准仿真分析，验证该方案的可行性及强跟踪滤波器的性能。仿真结果表明，采用强跟踪滤波能够根据残差的变化求出渐消因子，能够在机动过程中有效跟踪系统状态量，从而提高对准精度和速度。采用强跟踪滤波的GPS/INS组合导航系统对准技术可以保证对准的快速性及对准精度，对工程应用具有重要的参考价值。

Research on GPS/INS Integrated Alignment Based on Strong Tracking Filter

For poor robustness of Kalman filter, the strong tracking filter was applied to GPS/INS integrated alignment. The error model of GPS/INS integrated alignment was established. In order to verify the feasibility of the program and strong tracking filter performance, simulation and analysis of airborne equipment systems GPS/INS integrated navigation system alignment were carried out. Simulation results indicate that strong tracking filter can obtained fading factor according to the residual change, and tracked the state variables effectively during maneuver. Also, the alignment accuracy and rapidity is improved. Using strong tracking filter in GPS/INS integrated alignment can ensure the alignment rapidity and accuracy, and it has practical reference value in engineering application.