A Variable Proportion Adaptive Federal Kalman Filter for INS/ESGM/GPS/DVL Integrated Navigation System

摘要：

An integrated navigation system with synchronized space and time is constructed in this paper, which acquires information primarily from INS and ESGM, and GPS and DVL information as secondary sources. The error models of subsystems are set up respectively and the parameters matrixes of the state equation and measurement equation are fractional step discretization. A novel variable proportion adaptive federal Kalman filer algorithm is proposed for information fusion. The weights of filters are adjusted according to the work status of navigation sensors and validity of navigation information. Simulations are performed and the results show that high precision, stability and fault-tolerance can be obtained.

关键词： error models AR model variable proportion adaptive federal Kalman filter

作者: Gannan Yuan Kefei Yuan Hongwei Zhang

作者单位: College of Automation, Harbin Engineering University, Harbin, 150001,China

会议类型: 国际会议

会议名称: The Fourth International Joint Conference on Computational Science and Optimization(第四届计算科学与优化国际大会 CSO 2011)

会议地点: 昆明、丽江

会议语种:英文

页码: 978-981

在线出版日期: 2011-04-15（万方平台首次上网日期，不代表论文的发表时间）