一种改进的GPS/DR组合位置自适应滤波算法

为解决自适应滤波算法中观测误差与状态误差估计的关键问题,在分析GPS/DR组合导航系统测量信息性质的基础上,提出了GPS光滑度计算方法,并在其基础上给出了GPS位置误差估计算法及状态误差协方差阵和观测误差协方差阵自适应调节算法。算法仿真实现了观测误差的直接测量,较好地解决了Sage-Husa自适应滤波算法中对误差特性估计不准确的问题。仿真结果表明：位置滤波输出的精度相比Sage-Husa算法有明显的提高。

An improved GPS /DR integrated position adaptive filtering algorithm

In order to solve the key problem of the observational error and state error estimate in adaptive filtering algorithm, a method of calculating GPS smoothness is put forward based on the analysis of measured information's nature of GPS / DR integrated navigation system. According to the method, an algorithm for estimating the GPS position error and an algorithm for regulating the observational error and state error covariance matrices are given. The algorithm simulation realizes the direct measurement of observational error and solves the problem of inaccurate estimates on the error characteristics of Sage-Husa adaptive filtering algorithm. The results show that the output accuracy of position filtering is significantly improved compared to that of Sage-Husa algorithm.