CAJ | 학술논문

由于直升机的工作环境复杂，采用常规卡尔曼滤波进行组合导航容易发散。为了提高系统应对突变的能力，提出了一种基于Sage-Husa滤波器和强跟踪滤波器的交互式多模型( IMM)自适应滤波( AF)算法。具体实现是通过判断滤波器的每一维收敛判据，进而选择相应的自适应算法。仿真结果证明了改进算法的有效性和优越性，导航精度得到了显著提升。
유우직승궤적공작배경복잡，채용상규잡이만려파진행조합도항용역발산。위료제고계통응대돌변적능력，제출료일충기우Sage-Husa려파기화강근종려파기적교호식다모형( IMM)자괄응려파( AF)산법。구체실현시통과판단려파기적매일유수렴판거，진이선택상응적자괄응산법。방진결과증명료개진산법적유효성화우월성，도항정도득도료현저제승。
Due to complicated working environment of helicopter, Kalman filter in integrated navigation is prone to diverge. In order to im-prove the system to cope with sudden change, an interactive multiple model adaptive filtering algorithm based on Sage-Husa adaptive filter and strong trackin filter was proposed. The specific implementation was that choosing corresponding adaptive algorithm by judging filter convergence condition in every dimension. Simulation results demonstrate the effectiveness and superiority of the IMM-AF algorithm, which hasimproved navigation accuracy significantly.