Suge-Husa自适应滤波简化算法
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摘要
为解决组合导航系统存在因量测数据跳变引起状态突变等问题,分析Suge-Husa自适应滤波算法,针对组合导航系统噪声稳定的特点提出基于最佳遗忘因子的Suge-Husa自适应滤波简化算法,为提高滤波器的跟踪性能,引入调整系数,设计惯性导航系统(INS)、航姿系统(AHRS)和GPS构成松组合导航模型,通过Suge-Husa自适应滤波器对导航参数进行误差估值,对输出误差进行实时修正。结合实验,对模型和算法进行了仿真分析,验证了模型的可行性和算法的有效性。
To solve measurement data hop of integrated navigation,the Suge-Husa adaptive filtering simplified algorithm was analysed.According to the characteristics of noise stability of integrated navigation,a simplification algorithm of Suge-Husa adaptive filtering based on best forgetting factor was proposed.The adjustment coefficient was used to improve track performance for filter.An inattentive integrated model including INS,AHRS and GPS was designed,in which Suge-Husa adaptive filtering was used to evaluate output errors.Simulation analysis demonstrates the feasibility of the model and the effectiveness of the algorithm.
To solve measurement data hop of integrated navigation,the Suge-Husa adaptive filtering simplified algorithm was analysed.According to the characteristics of noise stability of integrated navigation,a simplification algorithm of Suge-Husa adaptive filtering based on best forgetting factor was proposed.The adjustment coefficient was used to improve track performance for filter.An inattentive integrated model including INS,AHRS and GPS was designed,in which Suge-Husa adaptive filtering was used to evaluate output errors.Simulation analysis demonstrates the feasibility of the model and the effectiveness of the algorithm.
引文
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[4]REN Jianxin,ZHOU Bingcheng.High-precision navigation system simulation[J].Computer Simulation,2012,29(6):304-307(in Chinese).[任建新,周秉成.高精度组合导航系统仿真[J].计算机仿真,2012,29(6):304-307.]
[5]SHEN Kai,GUAN Xueyuan,LI Wensheng.Application of EKF in integrated navigation system[J].Transducer and Microsystem Technologies,2017,36(8):158-160(in Chinese).[沈凯,管雪元,李文胜.扩展卡尔曼滤波在组合导航中的应用[J].传感器与微系统,2017,36(8):158-160.]
[6]SUN Hongwei,CHU Yuxiao.Adaptive extended Kalman filter in SINS/GPS navigation system[J].Computer Engineering and Design,2014,35(12):4375-4379(in Chinese).[孙洪伟,褚玉晓.SINS/GPS组合导航系统自适应扩展Kalman滤波[J].计算机工程与设计,2014,35(12):4375-4379.]
[7]XU Genyuan,WANG Zhi,WANG Zhiqiang.GPS/INS position integrated navigation based on adaptive Kalman filter[J].Electronic Design Engineering,2017,25(21):100-103(in Chinese).[许根源,王直,王志强.基于自适应卡尔曼滤波的GPS/INS位置组合导航[J].电子设计工程,2017,25(21):100-103.]
[8]LI Ning,DING Wei,ZHANG Yonggang.Integrated navigation system simulation platform[J].Computer Engineering and Design,2014,35(3):981-985(in Chinese).[李宁,丁薇,张勇刚.组合导航系统仿真平台的设计与实现[J].计算机工程与设计,2014,35(3):981-985.]
[9]YANG Chun,ZHANG Lei.Fault-tolerant integrated navigation algorithm using chi-square test with two state propagators and fuzzy adaptive filter[J].Control Theory&Applications,2016,33(4):1217-1220(in Chinese).[杨春,张磊.采用双状态传播卡方检验和模糊自适应滤波的容错组合导航算法[J].控制理论与应用,2016,33(4):1217-1220.]
[10]ZHANG Henghao,SHI Jing.Integrated navigation algorithm with posterior variance and asynchronous fusion[J].Control Theory&Applications,2017,34(12):1561-1567(in Chinese).[张恒浩,史静.组合导航后验方差异步融合算法[J].控制理论与应用,2017,34(12):1561-1567.]