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Efficiency Improvement of Kalman Filter for GNSS/INS through One-Step Prediction of P Matrix

机译：通过P矩阵的一步预测提高GNSS / INS卡尔曼滤波器的效率

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摘要

To meet the real-time and low power consumption demands in MEMS navigation and guidance field, an improved Kalman filter algorithm for GNSS/INS was proposed in this paper named as one-step prediction of P matrix. Quantitative analysis of field test datasets was made to compare the navigation accuracy with the standard algorithm, which indicated that the degradation caused by the simplified algorithm is small enough compared to the navigation errors of the GNSS/INS system itself. Meanwhile, the computation load and time consumption of the algorithm decreased over 50% by the improved algorithm. The work has special significance for navigation applications that request low power consumption and strict real-time response, such as cellphone, wearable devices, and deeply coupled GNSS/INS systems.
机译：为了满足MEMS导航和制导领域对实时性和低功耗的需求，提出了一种改进的GNSS / INS卡尔曼滤波算法，称为P矩阵的一步预测。对现场测试数据集进行了定量分析，将导航精度与标准算法进行了比较，这表明与GNSS / INS系统本身的导航误差相比，简化算法引起的降级很小。同时，改进算法使算法的计算量和时间消耗减少了50％以上。对于要求低功耗和严格实时响应的导航应用（例如手机，可穿戴设备和深耦合的GNSS / INS系统），这项工作具有特殊意义。

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  • 来源
    《Mathematical Problems in Engineering》 |2015年第11期|109267.1-109267.13|共13页
  • 作者

    Li Qingli; Ban Yalong; Niu Xiaoji; Zhang Quan; Gong Linlin; Liu Jingnan;

  • 作者单位

    Wuhan Univ, Wuhan 430079, Hubei, Peoples R China.;

    Wuhan Univ, Wuhan 430079, Hubei, Peoples R China.;

    Wuhan Univ, Wuhan 430079, Hubei, Peoples R China.;

    Wuhan Univ, Wuhan 430079, Hubei, Peoples R China.;

    Wuhan Univ, Wuhan 430079, Hubei, Peoples R China.;

    Wuhan Univ, Wuhan 430079, Hubei, Peoples R China.;

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