| INS／GPS／Odometer组合系统初始对准及自适应联合滤波 |
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| 引用本文： | 陈兵舫,张育林,赵华丽.INS／GPS／Odometer组合系统初始对准及自适应联合滤波[J].宇航学报,2001,22(6):57-63. |
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| 作者姓名： | 陈兵舫 张育林 赵华丽 |
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| 作者单位： | 1. 西昌卫星发射中心,
2. 国防科技大学航天与材料工程学院, |
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| 摘 要： | 本文提出了INS／GPS／Odometer（测速仪）组合际航系统。基于信息融合理论，提出了基于子滤波器可观性矩阵条件数和误差协方差矩阵特征值分解的自适应联合滤波。然后利用该方法对INS／GPS／Odometer组合系统的初始对准问题进行了研究。仿真结果表明，自适应联合滤波能够改善系统初始对准的状态估计精度，信息分配因子的不同选择对状态估计有一定的影响。
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| 关 键 词： | INS／GPS／Odometer组合导航 初始对准 信息融合 自适应联合滤波 |
| 文章编号： | 1000-1328(2001)06-0057-07 |
| 修稿时间： | 2001年4月10日 |
INITIAL ALIGNMENT OF INS/GPS/ODOMETER INTEGRATED SYSTEM AND ADAPTIVE FEDERATED
KALMAN FILTER |
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| Chen Bingfang,Zhang Yulin,Zhao Huali.INITIAL ALIGNMENT OF INS/GPS/ODOMETER INTEGRATED SYSTEM AND ADAPTIVE FEDERATED
KALMAN FILTER[J].Journal of Astronautics,2001,22(6):57-63. |
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| Authors: | Chen Bingfang Zhang Yulin Zhao Huali |
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| Institution: | Chen Bingfang 1 Zhang Yulin 2 Zhao Huali 1 |
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| Abstract: | In this paper,A novel inertial navigation system such as INS/GPS/Odometer integrated system is presented.Based on data fusion theory,initial alignment of this system is addressed on.An adaptive federated Kalman filter is provided which can evaluate the information sharing coefficients through the condition number of observability matrix and the error covariance matrix of Kalman filter dynamically.Some simulations show that the accuracy of this integrated system is affected by the information sharing coefficients.This integrated scheme is feasible in theory and engineering. |
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| Keywords: | INS/GPS/Odometer integrated System Initial alignment Data fusion |
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