卡尔曼滤波器异常自检及其在SINS初始对准中的应用

doi:10.12305/j.issn.1001-506X.2024.02.30

摘要/Abstract

摘要：

卡尔曼滤波器是惯性导航系统初始对准和组合导航问题中的常用工具。针对滤波时系统噪声和观测噪声异常导致的滤波精度下降甚至发散问题, 从理论上分析了基于新息协方差匹配和马氏距离卡方检验的两种滤波器异常检验判据, 结合判据在传统卡尔曼滤波、无迹卡尔曼滤波和容积卡尔曼滤波中的典型应用, 设计了针对捷联式惯性导航系统初始对准问题的测试实验, 实验结果表明两种判据对滤波器系统噪声和观测噪声异常都有一定的检验能力, 但检验判据严格程度存在不同且判据存在拖尾效应, 由此给出了在实践应用中的建议。

关键词: 惯性导航系统, 初始对准, 卡尔曼滤波, 异常检验

Abstract:

Kalman filter is commonly used in initial alignment and integrated navigation of inertial navigation system. Under the condition of abnormal system noise and observation noise, the filter will appear to decline in accuracy or even divergence. In order to solve this problem, two anomaly test criterias for filter based on covariance matching of the new information and Mahalanobis distance chi-square test are analyzed in theory. Considering the typical applications of the proposed criteria in conventional Kalman filter, unscented Kalman filter and cubature Kalman filter, a test is designed based on the initial alignment of strapdown inertial navigation system. Performances of these two test criteria methods under the condition of abnormal system noise and observation noise are verified. However, the strictness of the test criteria is different and the tailing effect have appeared. Therefore, some suggestions in practical application are also given.

Key words: inertial navigation system, initial alignment, Kalman filter, anomaly test criteria

中图分类号:

TH89

郭士荦, 王春雨, 李洋, 田鹏. 卡尔曼滤波器异常自检及其在SINS初始对准中的应用[J]. 系统工程与电子技术, 2024, 46(2): 668-674.

Shiluo GUO, Chunyu WANG, Yang LI, Peng TIAN. Fault self-checking method of Kalman filter and its application for initial alignment of SINS[J]. Systems Engineering and Electronics, 2024, 46(2): 668-674.

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判据	KF	UKF	CKF
判据1	98.6	92.2	94.8
判据2	96.0	70.0	73.2

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