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基于Kalman滤波的动力学模型误差估计算法
An algorithm based on Kalman filtering for estimating kinematic model errors
【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。
【Abstract】 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.
【关键词】 GPS/INS松组合导航;
模型误差;
Kalman滤波;
【Key words】 loosely-coupled GPS/INS integrated navigation; model errors; Kalman filtering;
【Key words】 loosely-coupled GPS/INS integrated navigation; model errors; Kalman filtering;
【基金】 国家自然科学基金(40604003);“863”项目(2007AA12Z331)
- 【文献出处】 测绘科学 ,Science of Surveying and Mapping , 编辑部邮箱 ,2011年02期
- 【分类号】TN967.2
- 【网络出版时间】2010-11-22 08:28
- 【被引频次】6
- 【下载频次】317