有色噪声作用下的机载INS/GPS组合导航方法

针对机载导航过程中有色噪声模型系数难以精确获取的问题，提出了一种基于滤波残差处理有色噪声的方法，并将其应用到INS/GPS组合导航系统中。首先分析了有色状态噪声和有色量测噪声对状态参数估值的影响，接着分别将状态残差和量测残差作为有色状态噪声和有色量测噪声的样本观测值，通过滤波所得的多个历元的残差序列获取拟合模型参数，然后计算有色噪声的预报值并将其进行补偿，从而得到有色噪声修正后的组合导航模型。最后设计了转台试验验证提出的有色噪声作用下的INS/GPS组合导航方法，结果表明该方法能有效地减小有色噪声对组合系统的影响，且当GPS暂时失效时，能显著提高系统的导航精度。

Airborne INS/GPS Integrated Navigation Method with Colored Noises

To solve the problem of the colored noise model coefficient is difficult to obtain accurately in airborne navigation, a method of using filter residuals to deal with colored noise is proposed and applied to INS/GPS integrated navigation system. Firstly, the influence of colored state noise and colored measurement noise on the state parameter estimation is analyzed. Then, the state residuals and the measurement residuals are taken as the sample observations of the colored state noise and the colored measurement noise. The model parameters are obtained by the residual sequence of multiple epochs. And then the forecast values of colored noise are calculated and compensated, so as to obtain the integrated navigation model corrected by colored noise. Finally, turntable test is designed to valid the INS/GPS integrated navigation method with colored noise. The results show that the method can effectively reduce the influence of colored noise on integrated system. And when the GPS temporarily failure, it can significantly improve the system navigation accuracy.