| 一种抗野值自适应滤波算法及在MEMS-SINS/GPS中应用 |
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| 引用本文： | 石静,缪玲娟,倪茂林.一种抗野值自适应滤波算法及在MEMS-SINS/GPS中应用[J].宇航学报,2010,31(12). |
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| 作者姓名： | 石静 缪玲娟 倪茂林 |
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| 作者单位： | 1. 北京理工大学自动化学院,北京,100081
2. 北京控制工程研究所空间智能控制技术国家级重点实验室,北京,100190 |
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| 基金项目： | 教育部新世纪人才(NCET-05-0177); 国家自然科学基金(60774002) |
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| 摘 要： | 针对噪声统计特性不准确以及量测信号中出现的野值对滤波的不利影响,提出一种基于Kalman滤波的抗野值自适应滤波算法。该算法通过对估计误差的实时监测来调整渐消因子或进行抗野值计算,使滤波器在统计特性不准确或存在野值干扰的情况下仍为最优估计。将其应用到MEMS-SINS/GPS组合导航系统中,仿真结果表明该算法能有效降低统计特性不准确及野值给系统造成的不利影响。
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| 关 键 词： | 组合导航 捷联惯性导航系统 微机电系统 自适应 抗野值 |
An Outlier Rejecting and Adaptive Filter Algorithm Applied in MEMS-SINS/GPS |
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| SHI Jing,MIAO Ling-juan,NI Mao-lin.An Outlier Rejecting and Adaptive Filter Algorithm Applied in MEMS-SINS/GPS[J].Journal of Astronautics,2010,31(12). |
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| Authors: | SHI Jing MIAO Ling-juan NI Mao-lin |
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| Institution: | SHI Jing1,MIAO Ling-juan1,NI Mao-lin2(1.Institute of Automation,Beijing Institute of Technology,Beijing 100081,China,2.National Key Laboratory of Science and Technology on Space Intelligent Control,Beijing Institute of Control Engineering,Beijing 100190,China) |
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| Abstract: | An outlier rejecting and adaptive filter is proposed against the influence of outliers in measurements and inaccurate noise statistical characteristics on Kalman filter.This algorithm computes the fading factors or performs outlier rejecting calculations by real-time monitoring the predicted residuals,such that the filter can still be optimal when there are outliers in measurements and when statistical characteristics are inaccurate.This approach is applied to the MEMS-SINS/GPS integrated navigation system,... |
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| Keywords: | Integrated navigation Strapdown inertial navigation system Micro electro mechanical system Adaptive Outlier rejecting |
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