李晓明,赵长胜,谭兴龙

• 1:滁州学院地理信息与旅游学院
• 2:江苏师范大学地理测绘与城乡规划学院

摘要(Abstract)：

针对常规的容积卡尔曼滤波在进行卫星/惯导组合导航数据融合处理时滤波精度有限及其稳定性不高的问题,该文提出一种改进的渐消自适应平方根容积卡尔曼滤波算法,通过QR分解传递协方差阵平方根因子,避免矩阵负定的同时减少计算量,提高滤波数值精度,并通过构造渐消因子调整观测噪声协方差矩阵,达到减弱观测异常的目的。车载实测数据验证表明,改进算法不仅提高了组合导航解的精度,还可有效抑制观测异常对导航精度的影响,提高系统的抗差性和稳定性。

关键词(KeyWords)： 组合导航;QR分解;渐消因子;抗差性

Abstract:

Keywords:

基金项目(Foundation): 江苏省自然科学基金项目(BK20150236);; 江苏省研究生创新项目(KYCX17_1571)

作者(Author): 李晓明,赵长胜,谭兴龙

DOI: 10.16251/j.cnki.1009-2307.2020.09.005

参考文献(References)：

• [1] 秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理[M].3版.西安:西北工业大学出版社,2015:5-33.(QIN Yongyuan,ZHANG Hongyue,WANG Shuhua.Kalman filtering and combined navigation principles[M].3rd ed.Xi’an:Northwest Polytechnical University Press,2015:5-33.)
• [2] JWO D J,YANG C F,CHUANG C H,et al.Performance enhancement for ultra-tight GPS/INS integration using a fuzzy adaptive strong tracking unscented Kalman filter[J].Nonlinear Dynamics,2013,73(1/2):377-395.
• [3] GROSS J,GU Y,GURURAJAN S,et al.A comparison of extended Kalman filter,sigma-point Kalman filter,and particle filter in GPS/INS sensor fusion[C]//Aiaa Guidance,Navigation,& Control Conference.[S.l.:s.n.],2013.
• [4] 李增科,王坚,高井祥,等.利用SVM的GPS/INS组合导航滤波发散抑制方法研究[J].武汉大学学报·信息科学版,2013,38(32):1216-1220.(LI Zengke,WANG Jian,GAO Jingxiang,et al.A mothod to prevent GPS/INS integrated navigation filtering divergence based on SVM[J].Geomatics and Information Science of Wuhan University,2013,38(32):1216-1220.)
• [5] 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.(SHEN Kai,GUAN Xueyuan,LI Wensheng.Application of EKF in integrated navigation system[J].Transducer and Microsystem Technologies,2017,36(8):158-160.)
• [6] MERWE R V D,WAN E A.The square-root unscented Kalman filter for state and parameter-estimation[C]//2001 IEEE International Conference on Acoustics,Speech,and Signal Processing.Proceeding.Salt Lake City:IEEE,2001.
• [7] 谭兴龙,王坚,李增科.基于SVD的改进抗差UKF算法及在组合导航中的应用[J].控制与决策,2014,29(10):1744-1750.(TAN Xinglong,WANG Jian,LI Zengke.SVD aided improved robust UKF algorithm and its application for integration navigation[J].Control and Decision,2014,29(10):1744-1750.)
• [8] 韩厚增,王坚.自适应UKF在GNSS/INS紧组合导航中的应用研究[J].大地测量与地球动力学,2013,33(6):98-102.(HAN Houzeng,WANG Jian.Study on adaptive unscented Kalman filter and its application to GNSS/INS tightly coupled navigation[J].Journal of Geodesy and Geodynamics,2013,33(6):98-102.)
• [9] 周翟和,刘建业,赖际舟,等.混合高斯粒子滤波在组合导航中应用的计算量分析[J].中国惯性技术学报,2010,18(5):595-599.(ZHOU Zhaihe,LIU Jianye,LAI Jizhou,et al.Computational complexity of mixture Gaussian particle filter about application in integrated navigation[J].Journal of Chinese Inertial Technology,2010,18(5):595-599.)
• [10] 张秋昭,张书毕,刘志平,等.基于奇异值分解的鲁棒容积卡尔曼滤波及其在组合导航中的应用[J].控制与决策,2014,29(2):341-346.)(ZHANG Qiuzhao,ZHANG Shubi,LIU Zhiping,et al.Robust cubature Kalman filter based on SVD and its application to integrated navigation[J].Control and Decision,2014,29(2):341-346.)
• [11] SUN F,TANG L J.INS/GPS integrated navigation filter algorithm based on cubature Kalman filter[J].Control and Decision,2012,27(7):1032-1036.
• [12] 杨元喜,高为广.基于多传感器观测信息抗差估计的自适应融合导航[J].武汉大学学报(信息科学版),2004,29(10):885-888.(YANG Yuanxi,GAO Weiguang.Integrated naigation based on robust estimation outputs of multi-sensor measurements and adaptive weights of dynamic model information[J].Geomatics and Information Science of Wuhan University,2004,29(10):885-888.)
• [13] 付心如,孙伟,徐爱功,等.组合导航抗差自适应卡尔曼滤波[J].测绘科学,2018,43(1):6-10.(FU Xinru,SUN Wei,XU Aigong,et al.Research on robust adaptive Kalman filter for integrated navigation[J].Science of Surveying and Mapping,2018,43(1):6-10.)
• [14]许长辉，高井祥，王坚．GNSS/INS组合系统的抗差卡尔曼滤波[J]．中国矿业大学学报，2010,39(5):773-778.(XU Changhui,GAO Jingxiang,WANG Jian.Robust Kalman filtering of GNSS/INS integrated system[J].Journal of China University of Mining&Technology,2010,39(5):773-778.)
• [15]张友民，戴冠中，张洪才．卡尔曼滤波计算方法研究进展[J]．控制理论与应用，1995(5):529-538.(ZHANG Youmin,DAI Guanzhong,ZHANG Hongcai.The new development of Kalman filtering algorithms[J].Control Theory and Application,1995(5):529-538.)
• [16]ARASARATNAM I,HAYKIN S.Cubature Kalman filters[J].IEEE Transactions on Automatic Control,2009,54(6):1254-1269.
• [17]谭兴龙．惯性导航辅助的无缝定位改进模型研究[D]．徐州：中国矿业大学，2014.(TAN Xinglong.Research on improved model of inertial navigation aided seamless positioning[D].Xuzhou:China University of Mining and Technology,2014.)