基于自适应卡尔曼滤波的GPS/INS位置组合导航

摘要

基于减少噪声干扰对GPS/INS组合导航系统准确性影响的目的.采用最优估计理论中卡尔曼滤波理论基础进行系统的研究,建立了组合导航系统状态方程和观测方程,给出了GPS/INS组合导航模型.通过对GPS/INS位置组合导航系统用Kalman滤波和自适应Kalman分析,并应用MATLAB软件仿真,从仿真结果得出自适应Kalman滤波对组合导航系统中的轨迹滤波跟踪有着较好的效果.%Objective to reduce the influence of noise interference on the accuracy of GPS/INS integrated navigation system.This article studies the theoretical basis for kalman filtering,which is part of the optimal estimation theory.Establishes the state equation and observation equation of integrated navigation system,gives GPS/INS integrated navigation mode.Kalman filter and adaptive Kalman analysis are used in the GPS/INS position integrated navigation system,and MATLAB software is used to simulate the results.From the results of the simulation,the adaptive Kalman filter has a good effect on the trajectory tracking of integrated navigation.