动态捷联惯导多卫星组合导航自适应联邦滤波算法研究.docxVIP

: 1002-0411(2008)04-0453-06 / : 1002-0411(2008)04-0453-06 / 1 1 1 2 JI 1 (1. 210016 2 300300) : JFT ETI / (GDOP) IJx SINS/GPS/Galileo/ 4 4E bLT Sage I : V249.32 i-: A An Adaptive Federated Filtering Algorithm for Dynamic SINS/Multi-satellite Integrated Navigation System WANG Chun-xia1 , ZHAO Wei1 , LIU Rui-hua2 , LIU Jian-ye1 (1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; 2. College of Electronic and Information Engineering, Civil Aviation University of China, Tianjin 300300, China) Abstract: In order to improve the precision and reliability of SINS/satellite integrated navigation in dynamic disturbance environment, a filtering algorithm based on dynamic disturbance is presented. The algorithm uses geometry dilution of precision(GDOP)to adaptively adjust the measurement noise and uses the innovation of Kalman filter to control the state covariance matrix. Meanwhile, the information distribution coefficient can be adaptively adjusted according to the time-varying covariance matrix of each subsystem. Simulation is carried out on the SINS/GPS/Galileo/BDS integrated navigation system, and comparison and analysis are made with conventional federated filter, Sage adaptive federated filter and the proposed adaptive federated filter. The simulation results show that the presented method can effectively restrain the kinematic disturbance and improve the precision and reliability of the integrated navigation system. Keywords: strapdown inertial navigation system (SINS); integrated navigation; adaptive federated filter; dynamic disturbance;