如何采用漸消卡爾曼濾波器防止捷聯(lián)慣導(dǎo)系統(tǒng)濾波發(fā)散

為了有效防止捷聯(lián)慣導(dǎo)系統(tǒng)濾波發(fā)散，本文從卡爾曼濾波原理出發(fā)，介紹了漸消卡爾曼濾波原理、遺忘因子等內(nèi)容，通過(guò)對(duì)漸消因子的推導(dǎo)及計(jì)算機(jī)仿真，給出了常規(guī)卡爾曼濾波器和漸消卡爾曼濾波器對(duì)系統(tǒng)進(jìn)行濾波的結(jié)果比較。該結(jié)果表明，采用漸消卡爾曼濾波器在工程實(shí)踐上確實(shí)可以解決捷聯(lián)慣導(dǎo)系統(tǒng)濾波發(fā)散的問(wèn)題。
關(guān)鍵詞： 卡爾曼濾波 自適應(yīng) 捷聯(lián)慣導(dǎo)系統(tǒng) 濾波發(fā)散
Adopt Reducing Kalman Filter to Prevent Strapdown Inertial Navigation System From Distortion of Filter YANG Bai-jun,PAN Hong-fei,CAI Xiao-Feng (The 91851th Unit of PLA, Liaoning Huludao,125001) Abstract: To effectively prevent strapdown inertial navigation system from distortion of filter, this paper bases on principle of kalman filter , the principle of reducing kalman filter and oblivional factor are also introduced. Through derivation of reducing factor and simulation, the filtrate effect on system of reducing kalman filter is compared with general filter. The results show that applications of reducing kalman filter in engineering practice can surely prevent strapdown inertial navigation system from distortion of filter.
Keyword: Kalman filter; Adaptive; Strapdown inertial navigation system; Distortion of filter