如何采用渐消卡尔曼滤波器防止捷联惯导系统滤波发散

为了有效防止捷联惯导系统滤波发散，本文从卡尔曼滤波原理出发，介绍了渐消卡尔曼滤波原理、遗忘因子等内容，通过对渐消因子的推导及计算机仿真，给出了常规卡尔曼滤波器和渐消卡尔曼滤波器对系统进行滤波的结果比较。该结果表明，采用渐消卡尔曼滤波器在工程实践上确实可以解决捷联惯导系统滤波发散的问题。
关键词： 卡尔曼滤波 自适应 捷联惯导系统 滤波发散
Adopt Reducing Kalman Filter to Prevent Strapdown Inertial Navigation System From Distortion of Filter YANG Bai-jun,PAN Hong-fei,CAI Xiao-Feng (The 91851th Unit of PLA, Liaoning Huludao,125001) Abstract: To effectively prevent strapdown inertial navigation system from distortion of filter, this paper bases on principle of kalman filter , the principle of reducing kalman filter and oblivional factor are also introduced. Through derivation of reducing factor and simulation, the filtrate effect on system of reducing kalman filter is compared with general filter. The results show that applications of reducing kalman filter in engineering practice can surely prevent strapdown inertial navigation system from distortion of filter.
Keyword: Kalman filter; Adaptive; Strapdown inertial navigation system; Distortion of filter