平方根求容积卡尔曼滤波的组合导航算法

摘要

以全球定位系统与航位推算(GPS/DR)相结合的组合导航系统为研究对象.为解决在GPS/DR组合导航研究中传统扩展卡尔曼滤波(EKF)算法的滤波精度和稳定性差问题,引入了平方根求容积卡尔曼滤波算法.作为一类sigma点滤波方法,SCKF有效避免了EKF计算雅可比矩阵,提高了估计精度.仿真结果表明,对于船用GPS/DR组合导航问题,该算法能获得更好的性能指标,更符合实际船用组合导航要求.%An integrated navigation system composed of GPS/DR (Global Positioning System/Dead Reckoning) is studied. To solve the problems of poor filtering precision and stability by conventional EKF( Extended Kalman Filter) in studying GPS/DR integrated navigation system, SCKF (Square-root Cubature Kalman Filter) is introduced. As a kind of sigma points filtering methods, it effectively avoids computing Jacobian matrix and improves estimate precision, comparing with the EKF. Simulation results indicate that better performance of GPS/DR integrated navigation system could be obtained by applying the novel algorithm, which satisfies ship integrated navigation demands in practice better.