基于cubature Kalman filter的INS_GPS组合导航滤波算法.pdf

第27卷第7期 Vol. 27 No. 7 控制与决策 Control and Decision 2012年7月 Jul. 2012 基于cubature Kalman ?lter的INS/GPS组合导航滤波算法文章编号:1001-0920 (2012) 07-1032-05 孙枫,唐李军(哈尔滨工程大学自动化学院,哈尔滨150001) 摘 要:INS/GPS组合导航系统的本质是非线性的,为改善非线性下INS/GPS组合导航精度,提出将一种新的非线性滤波cubature Kalman ?lter(CKF)应用于INS/,建立了基于平台失准角的非线性状态模型和以速度误差及位置误差描述的观测模型,分析了CKF滤波原理,设计了INS/GPS组合滤波器,,相对于扩展卡尔曼滤波(EKF), CKF降低了姿态、位置和速度估计误差, CKF更适合于处理组合导航的状态估计问题. 关键词:INS/GPS组合导航;非线性模型;CKF;组合滤波中图分类号:U249 文献标识码:A INS/GPS integrated navigation ?lter algorithm based on cubature Kalman ?lter SUN Feng,TANG Li-jun (College of Automation,Harbin Engineering University,Harbin 150001,:TANG Li-jun, E-mail:strapdown@) Abstract:The essence of INS/GPS navigation is nonlinear. To deal with the accuracy of INS/GPS navigation under nonlinear, a newnonlinear ?ltering method, cubature Kalman ?lter(CKF), is applied to the INS/GPS navigation. Therefor, the nonlinear state model based on the platform misalignment angle and the observation model described by the velocity error and position error is established, the CKF ?ltering principle is analyzed and the INS/GPS integrated ?lter is designed to simulate nonlinear model. Simulation results show that CKF reduces the estimation errors of attitude, position and pared with extended Kalman ?lter(EKF), and CKF prefers to deal with the state estimation problem of integrated navigation.