基于小波阈值消噪自适应滤波GPS_INS组合导航.pdfVIP

第 36 卷 　第 2 期 测 　绘 　学 　报 Vol . 36 , No . 2 　2007 年 5 月 ACTA GEODA ETICA et CAR TO GRAPHICA SIN ICA May ,2007 　　文章编号 : 100 11595 (2007) 020 12405 中图分类号 :P228. 4 　　　　文献标识码 :A 基于小波阈值消噪自适应滤波的 GPS/ INS 组合导航 1 2 吴富梅 , 杨元喜 ( 1. 信息工程大学 测绘学院 ,河南 郑州 450052 ; 2 . 西安测绘研究所 ,陕西 西安 7 10054) GPS/ INS Integrated Navigation by Adaptive Filtering Based on Wavelet Threshol d Denoising 1 2 WU Fumei , YAN G Yuanxi ( 1. I nstit ute of S u rvey i ng an d M app i ng , I nf orm ation Engi neeri ng University , Zhengz hou 450052 , Chi na ; 2 . X i ’an Research I nstit ute of S u rvey i ng an d M app i ng , X i ’an 7 10054 , Chi na) Abstract : The errors of inertia element s are remarkable factors in influencing IN S or GPS/ IN S. A new algorit hm based on wavelet t hreshold denoising for GPS/ IN S is presented to improve t he precision of integrated navigation . First , frequencysp ectral analysis for output signals of inertia element s is given to decide t he scale of wavelet mul tiresolution analysis and t he measures for t heir high frequency coefficient s. The high frequency coefficient s of t he scale which mostly contains noise will be set zero and t hose of t he scale which contains noise and useful signals will be dealt wit h by using t he t hreshold value . By t he calculation , it is shown t hat t he new algorit hm can effectively resist t he influence of t he errors of inertia element s and improve t he precision of navigation . Key w