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本文讨论了组合导航系统应用直接法卡尔曼滤波器的设计。并对滤波器的发散问题进行了讨论,给出了能自动抑圳发散的算法。仿真结果表明,文中给出的八状态滤波器的性能优于原系统,同时能有效地防止滤波发散。
This article discusses the design of the direct method Kalman filter for integrated navigation systems. The problem of the divergence of the filter is also discussed. The algorithm that can automatically dissipate the power is given. Simulation results show that the performance of the eight-state filter presented in this paper is better than that of the original system and the filter can effectively prevent the filter from diverging.