| INS／ESGM／Doppler组合导航系统中的联合Kalman滤波方法 |
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| 引用本文： | 熊崴,庄良杰,翁海娜,刘玉峰.INS／ESGM／Doppler组合导航系统中的联合Kalman滤波方法[J].中国惯性技术学报,2001,9(1):1-11. |
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| 作者姓名： | 熊崴 庄良杰 翁海娜 刘玉峰 |
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| 作者单位： | 天津航海仪器研究所，天津 300131 |
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| 基金项目： | “九五”国防重点预研(9.1.5②) |
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| 摘 要： | 在INS/ESGM/Doppler组合导航系统集中Kalamnihan滤波器的基础上，进一步建立了该组合导航系统的联合Kalman滤波器结构和滤波算法，并讨论了该滤波器的容错性及简化形式。数字仿真的结果表明，本文所设计的联合Kalman滤波器与集中Kalman滤波器相比，其滤波精度基本一致，而滤波器的解算速度更快，容错性能更好。
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| 关 键 词： | Kalman滤波 组合导航系统 静电陀螺监控器 惯性导航系统 多普勒 |
| 文章编号： | 1005-6734(2001)01-0001-11 |
Method of Federated Kalman
Filtering in INS/ESGM/Doppl er Integrated Navigation System |
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| XIONG Wei,ZHUANG Liangjie,WENG Haina,LIU Yufeng.Method of Federated Kalman
Filtering in INS/ESGM/Doppl er Integrated Navigation System[J].Journal of Chinese Inertial Technology,2001,9(1):1-11. |
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| Authors: | XIONG Wei ZHUANG Liangjie WENG Haina LIU Yufeng |
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| Abstract: | Based on the centralized Kalman filter of INS/ESGM/Dopper integrated navigation system,this paper devises the structure and algorithm of federated Kalman filter of the system,and discusses the performance of faulttolerance and the simplified form of this filter.Compared with centralized Kalman filter,the results of digital simulation show that the federated Kalman filter designed in this paper has the same precision,more rapid computing speed and better faulttolerant performance. |
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| Keywords: | federated Kalman filter integrated navigation system ESGM INS Doppler |
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