INS／GPS／CNS组合导航系统的自适应滤波技术研究

本重点研究了状态与偏差解耦估计的自适应滤波算法在ＩＮＳ／ＧＰＳ／ＣＮＳ组合民航系统中的应用问题。由于组合导航系统参数往往与实际的物理过程具有一定的偏差，因此采用常规的卡尔曼滤波算法常会发生滤波发散现象。本提出一种自适应滤波算法，并应用于组合导航系统。仿真结果表明，自适应滤波可以有效地抑制滤波发散，增强系统方案对环境的适应性，大大提高组合导航系统的精度。

Research on Adaptive Filtering Technique for INS/GPS/CNS Integrated Navigation System

This paper studies emphatically on the application of adaptive filtering algorithm in INS/GPS/CNS integrated navigation system.As we know,a normal Kalman filter may behave badly or even diverge in case of the existence of bias between the system model parameters and the actual physical process.To gain good performance and vergence,an adaptive filtering technique is proposed and applied to the integrated navigation system.The simulatsion result indicated that the adaptive filtering can effectively restrain the filter diverging,enhance the adaptability of system scheme to the environment and greatly improve the accuracy of integrated navigation system.