| Application of Adaptive Kalman Filtering Algorithm in IMU/GPS Integrated Navigation System |
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| 引用本文： | GAO Weiguang YANG Yuanxi CUI Xianqiang ZHANG Shuangcheng. Application of Adaptive Kalman Filtering Algorithm in IMU/GPS Integrated Navigation System[J]. 地球空间信息科学学报, 2007, 10(1): 22-26. DOI: 10.1007/s11806-007-0019-y |
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| 作者姓名： | GAO Weiguang YANG Yuanxi CUI Xianqiang ZHANG Shuangcheng |
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| 作者单位： | GAO Weiguang YANG Yuanxi CUI Xianqiang ZHANG Shuangcheng Institute of Surveying and Mapping，Information Engineering University，66 Middle Longhai Road，Zhengzhou 450052，China. |
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| 基金项目： | Supported by the National Natural Science Foundation of China （No.40274002; No.40474001）. |
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| 摘 要： | The IMU(inertial measurement unit) error equations in the earth fixed coordinates are introduced firstly. A fading Kalman filtering is simply introduced and its shortcomings are analyzed, then an adaptive filtering is applied in IMU/GPS integrated navigation system, in which the adaptive factor is replaced by the fading factor. A practical example is given. The results prove that the adaptive filter combined with the fading factor is valid and reliable when applied in IMU/GPS integrated navigation system.
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| 关 键 词： | IMU/GPS综合导航系统 自适应卡尔曼滤波算法 应用 大地固定坐标 |
| 文章编号： | 1009-5020（2007）01-022-05 |
| 收稿时间： | 2007-01-25 |
Application of adaptive Kalman filtering algorithm in IMU/GPS integrated navigation system |
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| Gao Weiguang,Yang Yuanxi,Cui Xianqiang,Zhang Shuangcheng. Application of adaptive Kalman filtering algorithm in IMU/GPS integrated navigation system[J]. Geo-Spatial Information Science, 2007, 10(1): 22-26. DOI: 10.1007/s11806-007-0019-y |
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| Authors: | Gao Weiguang Yang Yuanxi Cui Xianqiang Zhang Shuangcheng |
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| Affiliation: | (1) Institute of Surveying and Mapping, Information Engineering University, 66 Middle Longhai Road, Zhengzhou, 450052, China |
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| Abstract: | The IMU(inertial measurement unit) error equations in the earth fixed coordinates are introduced firstly. A fading Kalman filtering is simply introduced and its shortcomings are analyzed, then an adaptive filtering is applied in IMU/GPS integrated navigation system, in which the adaptive factor is replaced by the fading factor. A practical example is given. The results prove that the adaptive filter combined with the fading factor is valid and reliable when applied in IMU/GPS integrated navigation system. |
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| Keywords: | integrated navigation adaptive filtering fading filtering the earth fixed coordinates |
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