CAJ | 학술논문

针对组合导航系统中Kalman滤波在实际工程应用中的不足,以惯性/卫星组合导航系统为背景,提出小波变换技术对量测噪声方差阵进行直接调控的滤波算法.介绍Kalman滤波原理,根据小波变换在时域和频域都有良好的局部化性质,检测量测噪声的变化,实时调整自适应因子,间接改变Kalman滤波器的当前观测和过去信息的比例关系.仿真结果表明:该算法对噪声干扰有较强的自适应性,能有效抑制滤波发散,提高系统的精度和鲁棒性.
침대조합도항계통중Kalman려파재실제공정응용중적불족,이관성/위성조합도항계통위배경,제출소파변환기술대량측조성방차진진행직접조공적려파산법.개소Kalman려파원리,근거소파변환재시역화빈역도유량호적국부화성질,검측량측조성적변화,실시조정자괄응인자,간접개변Kalman려파기적당전관측화과거신식적비례관계.방진결과표명:해산법대조성간우유교강적자괄응성,능유효억제려파발산,제고계통적정도화로봉성.
According to the deficiency of Kalman filtering of integrated navigation system in engineering application, based on the background of INS/BD integrated navigation, this paper puts forward the filtering algorithm which direct control noise covariance matrix with wavelet transformation technique. It introduced the theory of Kalman filtering, this method has good part characteristics in both time domain and frequency domain of wavelet transform and it adjusts the adaptive gene directly according to the variety and variance of new-information, and at the same time, it adjusts the proportion of current observation and past message indirectly. Simulation results indicates that the algorithm has good self-adaptive Kalman filtering bases on wavelet transform, it can adapt to the disturbance of system and noise model, restrain filtering failure, improve the system precision and robustness.