GPS/INS组合导航系统自适应滤波算法与仿真研究

随着组合导航系统应用环境的日趋复杂，给噪声统计特性的准确描述带来困难，这将造成Kalman滤波器不稳定甚至发散。首先对目前解决此问题常用的自适应滤波方法进行了总结和分析，在此基础上，给出了基于滤波收敛性判据，结合Sage-Husa自适应滤波和强跟踪Kalman滤波的改进自适应滤波算法。最后以GPS／INS组合导航系统为例进行了计算机仿真，结果表明：该算法可有效抑制滤波发散，具有较大范围的自适应能力。

Research on adaptive filter algorithm and simulation for GPS/INS the integrated navigation

Due to the complexity the application circumstance,it is difficult to describe the noise statistics of integrated navigation system accurately This may cause the general Kalman filter unstability even divergence This paper present a modified adaptive filter algorithm to estimate states by combination of Sage Husa adaptive filter and strong tracking Kalman filter based on the summarize and analysis to the adaptive filter method in common use to solve this problem The computer simulation result for GPS/INS integrated navigation show that this method can restrain the divergence effectively and has better adaptive ability