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SYSTEM AND METHOD FOR INTELLIGENT TUNING OF KALMAN FILTERS FOR INS/GPS NAVIGATION APPLICATIONS
SYSTEM AND METHOD FOR INTELLIGENT TUNING OF KALMAN FILTERS FOR INS/GPS NAVIGATION APPLICATIONS
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机译:用于INS / GPS导航应用的卡尔曼滤波器智能调谐的系统和方法
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摘要
Disclosed is a reinforcement learning technique for online tuning of integration filters of navigation systems needing a priori tuning parameters, such as Kalman Filters and the like. The method includes receiving GNSS measurements from the GNSS unit of the navigation system; and IMU measurements from IMU of the navigation system. The method further includes providing a priori tuning parameters to tune the integration filter of the navigation system. The method further includes processing the GNSS and IMU measurements using the tuned integration filter to compute a position estimate and updating the a priori turning parameters based on the computer position estimate.
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