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在多星座组合导航应用于高动态场景时,由于受加速度变化范围大、动态噪声和观测噪声难以准确预测等因素影响,常规联邦滤波估计精度将会严重下降甚至发散。针对这一问题,提出将强跟踪滤波算法应用到容错型联邦滤波器中,构成容错型联邦强跟踪滤波器。对COMPASS/GPS/GLONASS组合导航系统进行的仿真结果表明:该算法设计灵活,容错性强,对高动态目标有较强的跟踪能力,能够显著提高导航定位的精度和可靠性。同时,由于组合应用了无重置联邦滤波结构和渐消矩阵一步次优算法、残差χ2检验算法等实用算法,使得该算法整体计算量适中,易于实现,具有一定的工程实用价值。
When multi-constellation combined navigation is applied to high-dynamic scene, the accuracy of conventional federal filter estimation will be seriously degraded or even diverged due to the large range of acceleration, dynamic noise and accurate prediction of observed noise. To solve this problem, we propose to apply a strong tracking filter algorithm to the fault-tolerant federal filter to form a fault-tolerant federal strong tracking filter. The simulation results on the COMPASS / GPS / GLONASS integrated navigation system show that the proposed algorithm has the advantages of flexible design, strong fault tolerance and strong tracking ability to high dynamic targets, which can significantly improve the accuracy and reliability of navigation and positioning. At the same time, due to the combined application of the non-reset federal filtering structure and fading matrix one-step suboptimal algorithm, the residual χ2 test algorithm and other practical algorithms, making the overall calculation of the algorithm is moderate, easy to implement, and has some engineering value.