基于Kalman滤波的动力学模型误差估计算法

英文篇名：An algorithm based on Kalman filtering for estimating kinematic model errors
中文刊名：测绘科学
英文刊名：Science of Surveying and Mapping
作者：高为广 ; 张晓东
英文作者：GAO Wei-guang①② ; ZHANG Xiao-dong③(①Institute of Surveying and Mapping ; University of Information Engineering ; Zhengzhou 450052 ; China ; ②Beijing Institute of Tracking and Telecommunications Technology ; Beijing 100094 ; China ; ③Xi'an Research Institute of Surveying and Mapping ; Xi'an 710054 ; China)
中文关键词：GPS/INS松组合导航 ; 模型误差 ; Kalman滤波
英文关键词：loosely-coupled GPS/INS integrated navigation ; model errors ; Kalman filtering
出版日期：2010-11-22
机构：信息工程大学测绘学院;北京跟踪与通信技术研究所;西安测绘研究所;
年：2011
期：02
出版单位：测绘科学

摘要

本文分析介绍了模型误差对滤波解和预报残差影响的表达式。随后,针对GPS/INS松组合导航系统观测信息无冗余的情况,给出了基于Kalman滤波的动力学模型误差估计算法。最后利用一个车载实测数据证明了算法的有效性。
Firstly,the influences of the dynamical model errors on navigation results and the predicted residuals were analyzed and introduced in the paper.Then,a new algorithm based on Kalman filtering for estimating kinematic model errors was put forward.Finally,a practical example was given.The results proved that the new algorithm was valid and reliable when applied in loosely-coupled GPS/INS integrated navigation system.

引文

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