改进Sage-Husa算法在飞机组合导航中的应用

针对机载组合导航系统，考虑不同飞行阶段的气压高度，提出一种改进的Sage-Husa自适应滤波算法，以提高组合导航系统定位精度. 该算法通过引入气压高度，实时计算并修正滤波异常判定的调节因子，以满足飞机不同飞行阶段的滤波需求. 通过捷联式惯性导航系统(SINS)、全球卫星导航系统(GNSS)定位误差特性仿真、卡尔曼滤波组合算法仿真、以及改进的Sage-Husa自适应滤波算法仿真，并对相关结果进行比较验证. 仿真结果表明，改进Sage-Husa自适应滤波可以提高滤波的自适应性，降低组合导航系统定位误差，取得较好的效果. 

The application of improved Sage-Husa algorithm in aircraft integrated navigation

Aiming at the airborne integrated navigation system, considering the air pressure altitude in different flight stages, an improved Sage-Husa adaptive filtering algorithm is proposed to improve the positioning accuracy of the integrated navigation system. This algorithm calculates and corrects the adjustment factor of filter anomaly determination in real time by introducing air pressure altitude to meet the filtering requirements of different flight stages of the aircraft. Through strap-down inertial navigation system (SINS), global navigation satellite system (GNSS) positioning error characteristics simulation, Kalman filter combination algorithm simulation, and improved Sage-Husa The adaptive filtering algorithm is simulated, and the relevant results are compared and verified. The simulation results show that improving the Sage-Husa adaptive filtering can improve the adaptiveness of the filtering, reduce the positioning error of the integrated navigation system, and achieve better results.