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

Abstract

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

CLC Number:

TH89

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.

Figures/Tables 12

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Table 1

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References 31

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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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Fault self-checking method of Kalman filter and its application for initial alignment of SINS

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