Improved ICCP Algorithm and Its Application in Gravity Matching Aided Inertial Navigation System

摘要：

　　Considering two disadvantages in traditional gravity matching aided inertial navigation system,low matching accuracy and error accumulation,we propose an improved gravity matching algorithm and aided method for inertial navigation system.Instead of using the sequence sampling,the single point sampling is applied to improve the structure of proposed algorithm,enhancing the matching speed and efficiency.In the aided navigation system method,we use combination of Sage-Husa adaptive filter and strong-tracked Kalman filter to make further optimal estimation of the matching trajectory.Simulation results show the effectiveness of the real-time ICCP algorithm and the combined filter algorithm.Comparing to the traditional methods,proposed method provides higher matching and navigation accuracy.

关键词： gravity aided navigation single-point sampling combined filter

作者: LIU Meiqi WANG Bo DENG Zhihong FU Mengyin

作者单位: School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Institute of Technology,Beijing 100081,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 562-567

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）