| 基于抗差EKF的GNSS/INS紧组合算法研究 |
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| 引用本文： | 王坚,刘超,高井祥,许长辉.基于抗差EKF的GNSS/INS紧组合算法研究[J].武汉大学学报(信息科学版),2011(5):596-600. |
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| 作者姓名： | 王坚 刘超 高井祥 许长辉 |
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| 作者单位： | 中国矿业大学国土环境与灾害监测国家测绘局重点实验室;中国矿业大学环境与测绘学院; |
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| 基金项目： | 国家自然科学基金青年基金资助项目(40904004),国家自然科学基金资助项目(41074010); 国家教育部博士点专项基金(新教师)资助项目(200802901516),国家教育部留学回国人员科研启动基金资助项目; 江苏省普通高校研究生科研创新计划资助项目(CX10B_140Z); 江苏省“青蓝工程”资助项目 |
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| 摘 要： | 提出了GNSS/INS紧组合导航的抗差EKF算法,采用21状态GNSS/INS紧组合状态方程,根据多余观测分量及预测残差统计构造抗差等价增益矩阵,建立抗差EKF算法,通过迭代给出GNSS/INS组合导航的抗差解,并开发GNSS/INS紧组合导航模拟平台,通过对观测值加入单粗差、多粗差及缓慢增长三类误差,测试本文算法对不同粗差的抑制能力。分析表明,抗差EKF可以将三类粗差抑制在相应观测值的残差中,达到削弱其对状态参数估计的影响。本文算例证明,抗差EKF算法可将导航解的误差精度从dm级提高为cm级甚至mm级,导航精度及可靠性得到明显提高。
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| 关 键 词： | GNSS/INS 导航 抗差估计 扩展卡尔曼滤波 |
GNSS/INS Tightly Coupled Navigation Model Based on Robust EKF |
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| WANG Jian, LIU Chao, GAO Jingxiang, XU Changhui.GNSS/INS Tightly Coupled Navigation Model Based on Robust EKF[J].Geomatics and Information Science of Wuhan University,2011(5):596-600. |
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| Authors: | WANG Jian LIU Chao GAO Jingxiang XU Changhui |
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| Institution: | WANG Jian1,2 LIU Chao1,2 GAO Jingxiang1,2 XU Changhui1,2(1 Key Laboratory for Land Environment and Disaster Monitoring of SBSM,China University of Mining and Technology,South Sanhuan,Xuzhou 221116,China)(2 School of Environment and Spatial Informatics,China) |
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| Abstract: | A robust extended Kalman filter(EKF) algorithm is proposed and applied to tightly coupled GNSS/INS integrated navigation system.The algorithm is constructed by adopting a 21-demensional state equation and the redundancy and predicted residuals are used to build equivalent Kalman gain matrix.The iterative scheme is suggested for solving the GNSS/INS robust EKF solution.A simulation platform of GNSS/INS tightly integrated navigation system was developed and used to test the ability of the algorithm to reject ... |
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| Keywords: | GNSS/INS navigation robust estimation extended Kalman filter |
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