遗忘因子在 SINS／GPS／BDS／EC 组合导航自适应滤波中的应用

摘要

Aiming at the problem of conventional filter divergence ,this paper advises to construct SINS/GPS/BDS/EC federal kalman filter and introduces adaptive filtering algorithm of forgetting factor so as to improve integrated navigation po‐sitioning precision .The simulation shows that the adaptive filtering with forgetting factor controls the filter divergence phe‐nomena obviously relative to conventional filtering ,embodies higher precision and strong robustness .%通过建立 SINS／GPS／BDS／EC 联邦卡尔曼滤波器，引入遗忘因子的自适应滤波算法，以解决常规滤波发散问题，提高组合导航定位精度。仿真分析，相对于常规滤波，带有遗忘因子的自适应滤波对于滤波发散现象起到了明显控制作用，体现出了较高的精度和较强的鲁棒性。