为了解决SINS/GPS组合导航系统姿态、速度和位置等导航参数的非线性估计问题,提出了一种基于平方根中心差分卡尔曼滤波(SR-CDKF)的直接式滤波估计方法.系统状态方程选取惯导力学编排方程,系统状态向量和观测向量分别选取SINS导航参数和GPS输出参数,构建了SR-CDKF滤波器.该滤波器可以使导航参数动态过程得到直接反映,并使得直接式滤波计算流程得以实现.以MATLAB中areoblk_HL20模块为基础构建了仿真系统并进行了仿真.仿真结果表明,该算法具有较高的滤波精度、良好的滤波收敛性和稳定性,能使非线性模型下SINS/GPS组合导航系统的导航要求得到满足.%In order to solve the nonlinear estimation problem of the navigation-parameters about SINS/GPS integrated navigation system such as attitudes, speeds and positions, a direct filtering estimation method was proposed based on Square Root Center Differential Kalman Filter ( SR-CDKF ) . The system state vectors and observation vectors respectively consisted of SINS navigation-parameters and GPS output pa-rameters,and the SR-CDKF filter was constructed. The filter can directly reflect the dynamic process of navigation parameters and realize the direct filtering calculation-process. Based on the areoblk_HL20 module in the MATLAB, the simulation system was built, and the simulation was carried out. The simulation results show that the algorithm has high filtering-accuracy,good convergence and stability of fil-tering,and the navigation requirements of SINS/GPS integrated navigation system under the condition of the nonlinear model can be satisfied.
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