基于联邦卡尔曼滤波的组合导航定位算法

在传统的GPS/INS紧耦合组合导航系统中,由于伪距和多普勒频移误差的存在,系统存在一定的误差偏移。针对这种误差偏移,设计了一种联邦卡尔曼滤波组合导航算法,该算法采用二级卡尔曼滤波器,将卫星接收模块解算出的伪距信息和多普勒频移信息在第一级卡尔曼滤波后,与INS模块结算出的信息进行修正处理,再通过主滤波器得到紧耦合算法的INS解算结果校正量和定位位置最优估计。通过计算机仿真结果分析表明,该方法相对于传统的紧耦合组合导航算法可以有效减小误差,具有一定的理论价值和实用价值。

Location Algorithm of GPS/INS Closely Coupled System Based on Federation Kalman Filter Algorithm

In the traditional GPS/INS closely coupled system,whole system exists bias because of the bias of pseudo range and doppler shift.To remove the bias,the location algorithm based on federation Kalman filter algorithm is designed.This algorithm has two Kalman filters.The first Kalman filter filters the pseudo range and doppler shift get from the GPS module.Then,the results get from the first Kalman filter is filtered by the second Kalman filter with the data get from the INS module.The correcting value of the location results get from the second Kalman filter can be used to correct the position and velocity to get the optimum estimate.The simulation results show that the federation Kalman filter algorithm can decrease the bias compared with the traditional Kalman filter algorithm.The federation Kalman filter algorithm has theoretical and practical value.