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《Science Technology and Engineering》 2013-33
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Improved Algorithmof Adaptive Fading Kalman Filtering Based on GPS /INS Integrated Navigation

MA Long;LI Xiao-ming;School of Information and Navigation,Air Force Engineering University;  
The filtering divergence problem of GPS/SINS integrated navigation system model is not accurate or measurement noise variable based on the generated,study the adaptive fading Kalman filter for inhibition of filtering divergence,a kind of using the innovation covariance estimated value and the measured value calculation method of real-time adaptive fading factor put forward,used it to control prediction error covariance matrix and gain matrix Kalman filter equation,adjusting the history of new information and the new information weight to restrain the divergence of filtering. Calculation and limitation of the algorithm can effectively reduce the strict convergence criteria are derived in a fading factor,the effective use of the new information value. The simulation results show that,the proposed algorithm can effectively restrain the divergence of Kalman filter,and the filtering effect is better than the conventional Kalman.
【CateGory Index】: TN967.2
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