| ????IMM-PF?????/??????????? |
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| 引用本文： | 柳明,王海军.????IMM-PF?????/???????????[J].大地测量与地球动力学,2012,32(5):82-85. |
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| 作者姓名： | 柳明 王海军 |
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| 作者单位： | 1. 山东省高校航空信息与控制技术重点实验室,滨州256603;滨州学院航空信息技术研发中心,滨州256603
2. 滨州学院航空信息技术研发中心,滨州,256603 |
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| 基金项目： | 山东省科技发展计划项目(2011GGA16054);滨州学院博士学位人员科研启动费项目(2009Y04) |
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| 摘 要： | ???????/????????????????????????????????????????????????????????????(PF)???IMM??????????IMM-PF???????????÷??????????????????????????????????????????????????????????????EKF??????IMM-PF??????????????????????????????????????????????????????????????
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| 关 键 词： | ?????? IMM ??????? ?????? ?????? |
INERTIAL/GEOMAGNETIC INTEGRATED NAVIGATION ALGORITHM BASED IMM-PF |
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| Liu Ming,and Wang Haijun.INERTIAL/GEOMAGNETIC INTEGRATED NAVIGATION ALGORITHM BASED IMM-PF[J].Journal of Geodesy and Geodynamics,2012,32(5):82-85. |
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| Authors: | Liu Ming and Wang Haijun |
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| Institution: | 1)Key Laboratory of Aviation Information and Control Technology in Universities of Shandong,Binzhou 2566032)Aviation Information Technology R&D Center,Binzhou College,Binzhou 256603 |
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| Abstract: | The problem of nonlinearity and system noise uncertainty in the inertial and geomagnetic integrated navigation systems seriously affected the navigation accuracy of the systems.For solving the problem, Firstly, nonlinear model set of the system is established aming the system noise uncertainty, and the model set should cover a variety of noise conditions. Secondly, the Particle Filter (PF) is used as the IMM matched filter. Thus IMM PF algorithm is proposed, and the non linear equations can be used directly in this algorithm.The simulation results show that, compared to conventional EKF algorithm, in the condition of system noise uncertainty, IMM PF algorithm can automatically adjust the system model, can guarantee the convergence of the system quickly, and can improve the navigation accuracy. |
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| Keywords: | integrated navigation IMM Particle Filter(PF) nonlinear system noise |
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