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指出了在组合导航系统中,Kalman滤波器的预测周期与滤波周期之间的异步性会给滤波器的动特性带来不良影响。针对这一问题,提出了一种修正Kalman滤波算法,并将其应用于高精度定位定向系统的“惯性/位置”组合导航中。
It is pointed out that in the integrated navigation system, the asynchronism between the Kalman filter’s prediction period and the filter period will adversely affect the dynamic characteristics of the filter. Aiming at this problem, a modified Kalman filter algorithm is proposed and applied to “inertial / position” integrated navigation of high-precision positioning and orientation system.