GPS/INS组合导航系统抗差滤波器设计

摘要

This paper designs a minimax robust Kalman filter which can minimize the worst performance under noise uncertainties using the game theory. The filter is applied to an integrated GPS/INS navigation system. A typical aircraft trajectory is simulated to test the new filter. The results indicate that integrated navigation system has better performance than using the standard Kalman filtering technique when noise components change their statistical properties.%常规Kalman滤波器已经广泛用于GPS/INS组合导航系统,其中假设系统动态模型和噪声统计特性是精确已知的.事实上,这种假设是不符合实际情况的.在组合导航系统中,惯性测量器件的质量不稳定,GPS测量误差受外界环境的影响,因而对组合导航系统进行抗差设计是十分必要的.本文利用对策论设计了能使不确定噪声下性能最好的极小极大抗差滤波器,并将其应用到GPS/INS组合导航系统中.