FLAKF在无陀螺惯性测量组合中的应用

Journal of Systems Engineering and Electronics ›› 2009, Vol. 31 ›› Issue (11): 2710-2713 .

FLAKF在无陀螺惯性测量组合中的应用

于金涛,1,2,梁廷伟2

1. 哈尔滨商业大学计算机学院, 黑龙江哈尔滨 150028；2. 哈尔滨工业大学自动化测试与控制系, 黑龙江哈尔滨 150001

出版日期:2009-11-26 发布日期:2010-01-03

Application of fuzzy logic adaptive Kalman filter in NGIMU/GPS integrated navigation

YU Jin-tao,LIANG Ting-wei

1. School of Computer, Harbin Univ. of Commerce, Harbin 150028, China; 2. Dept. of Automatic Test and Control, Harbin Inst. of Technology, Harbin 150001, China

Online:2009-11-26 Published:2010-01-03

摘要/Abstract

摘要：

在无陀螺惯性测量组合（nongyro inertial measurement unit, NGIMU）导航计算中，由于加速度计输出动态噪声的存在，造成误差随时间迅速累积。采用传统卡尔曼滤波方法进行NGIMU/GPS组合导航系统设计时，又由于观测噪声的复杂性，造成滤波结果不明显。针对上述噪声统计特性不易确定的问题，基于NGIMU九加速度计配置方案，提出利用模糊逻辑自适应卡尔曼滤波(fuzzy logic adaptive Kalman filter, FLAKF)方法进行NGIMU/GPS组合导航系统设计。该FLAKF方法通过对噪声方差进行修正，将卡尔曼滤波器调整到最优状态。同时进行了系统位移、速度、角速度仿真，仿真结果验证了FLAKF方法的可行性。

Abstract:

In a nongyro inertial measurement unit (NGIMU) system, an inevitable accumulation error of navigation parameters is produced due to the dynamic noise of the accelerometer output. During designing an integrated navigation system, which is based on a nineconfiguration NGIMU and a single antenna global positioning system (GPS) by using the conventional Kalman filter (CKF), the filtering results are divergent because of the complicity of the system measurement noise. So a fuzzy logic adaptive Kalman filter (FLAKF) is applied in the design of the NGIMU/GPS. The FLAKF optimizes the Kalman filter by modifying the noise covariance. A simulation case for estimating the position, velocity and angle rate is investigated with this approach. Results verify the feasibility of the FLAKF.

于金涛,1,2,梁廷伟2. FLAKF在无陀螺惯性测量组合中的应用[J]. Journal of Systems Engineering and Electronics, 2009, 31(11): 2710-2713 .

YU Jin-tao,LIANG Ting-wei. Application of fuzzy logic adaptive Kalman filter in NGIMU/GPS integrated navigation[J]. Journal of Systems Engineering and Electronics, 2009, 31(11): 2710-2713 .