the results show that the conputation complexity of sukf is less obviously, and filtering accuracy compared with ukf is unchanged 結(jié)果表明,sukf明顯減少了計算量,而濾波精度和ukf相比沒有變化。
the integrated kalman filter method is applied to vehicle navigation system in order to revise the error of ins, study a method of refraining filter divergence in order to improve filter accuracy . the federated filter is applied to the system in order to realize the failure detection and isolation and the question of information distribution . the adaptive filter is applied to the system in order to solve the question of inaccuracy or unknown noise statistics and to make navigation accuracy increase 在gps/ins車輛組合導(dǎo)航中,應(yīng)用集中式卡爾曼濾波算法校正ins的誤差,研究了抑制濾波發(fā)散的方法,提高了濾波精度;應(yīng)用聯(lián)邦濾波實現(xiàn)了gps/ins的信息融合與信息分配,解決了當(dāng)gps發(fā)生故障時的故障檢測與隔離問題;應(yīng)用自適應(yīng)濾波解決了實際中噪聲統(tǒng)計特性不準(zhǔn)確或未知的問題,提高了導(dǎo)航精度。