上海交通大学学报

上海交通大学学报（自然版） ›› 2014, Vol. 48 ›› Issue (03): 346-350.

• 无线电电子学、电信技术 • 上一篇    下一篇

IMM-SRUKF在GPS/INS组合导航中的应用

朱立新，马春来，孟
  

  1. (电子工程学院,  合肥 230037)
     
     
     
     
  • 收稿日期:2013-09-24 出版日期:2014-03-28 发布日期:2014-03-28

Application of IMM-SRUKF to GPS/INS Integrated Navigation

ZHU Lixin,MA Chunlai,MENG Yan
  

  1. (Electronic Engineering Institute, Hefei 230037, China)
  • Received:2013-09-24 Online:2014-03-28 Published:2014-03-28

摘要：

摘要： 
针对无迹卡尔曼滤波 (UKF)鲁棒性不强的问题，结合全球定位系统/惯性导航系统 (GPS/INS)紧组合模型特点，提出了基于交互式多模型（IMM）的混合平方根无迹卡尔曼滤波（SRUKF）算法.该算法采用交互式多模型结构，克服了模型不确定性因素的影响；采用平方根滤波技术，解决了协方差矩阵难以保持正定的问题.同时，考虑到内部滤波器与线性/非线性模型不匹配，引入混合滤波思想，对SRUKF进行了优化.将新算法应用于紧组合模型进行仿真，结果表明：新算法能够以适当的时间复杂度，获得较强的鲁棒性能，适用于复杂的导航环境.

 
 

关键词: 组合导航系统, 全球定位系统/惯性导航系统, 平方根无迹卡尔曼滤波, 混合模型, 交互式多模型

Abstract:

To solve the problem of poor robustness in unscented Kalman filter (UKF), considering the tightly integrated characteristics of the GPS/INS model, a mixed square root UKF based on the interacting multiple model (IMM-SRUKF, interacting multiple models-square root UKF)was presented. The algorithm adopted not only an interactive multi-model structure to overcome the uncertainty factors of the model, but also the method of square root filter to solve the problem that the covariance matrix is difficult to maintain positive definite. Moreover, taking into account the fact that the internal filter with linear / nonlinear model did not match,  the idea of hybrid filter was introduced to optimize the SRUKF(square root UKF). The new algorithm was applied to the tightly integrated model. Simulation results show that the algorithm has better robustness at the price of proper time complexity and can be applied to complex navigation cases.
 

Key words: integrated navigation system, global positioning system/inertial navigation system (GPS/INS), square root unscented Kalman filter (SRUKF), hybrid model, interacting multiple model (IMM)

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