摘要
针对GNSS／INS组合导航Kalman滤波中过程状态噪声矩阵难以精确给定的问题，采用Sage—Husa滤波结合观测信息对状态噪声矩阵进行在线估计，减小过程状态噪声不确定的影响。实测结果表明，与基于标称精度给定的标准Kalman滤波相比，基于Sage—Husa滤波的自适应滤波导航精度有明显提高。
In GNSS/INS integrated navigation using Kalman filtering, it is difficult to determine the state noise matrix relat- ed to random errors of inertial components. In this paper, Sage - Husa filtering is introduced to reduce the influence of uncertain- ty of the state noise matrix by online estimation with observation information. The results of calculation show that the precision of Sage - Husa filtering is greatly improved compared with standard Kalman filtering determined by the given coefficients.
出处
《测绘科学与工程》
2013年第4期15-18,共4页
Geomatics Science and Engineering
基金
国家自然科学基金资助项目（41004013,41020144004,41174018）,国家863资助项目（2013AA122501）.
