Adaptive Extended Kalman Filtering Algorithm for SINS/GPS Integrated Navigation in Guided Munitions
The Integrated Navigation Kalman Filter of Strapdown Inertial Navigation System/Global Positioning System (SINS/GPS) with pesudorange and quaternion as observation information, has been researched for space autonomous navigation. To improve the real-time working performance, an improved Adaptive Extended Kalman filtering algorithm (AEKF) is proposed here to estimate the measurement noise on-line for the SINS/GPS integrated navigation systems. The measurement remnant chisquare method is used to automatically adjust the sliding window basing on the innovation sequence. The experiment result shows that this new approach could improve the accuracy of the integrated navigation system effectively when the measurement noise is unknown. Compared to the original algorithm in longitude, latitude, altitude and velocity, the orientation precision is improved greatly.
adaptive extended kalman fdteringr integraion navigation system information fusion
Bin Li Lei Cai Mingqin Xiao
Engineering College,Air Force Engineering University ,Xian 710038 ,China College of Control Science and Engineering ,Shangdong University ,Jinan 250061, China Troops 94569 P
国际会议
厦门
英文
283-287
2010-10-29（万方平台首次上网日期，不代表论文的发表时间）