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首页> 外文期刊>Mechanical systems and signal processing >Multi-rate strong tracking square-root cubature Kalman filter for MEMS-INS/GPS/polarization compass integrated navigation system
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Multi-rate strong tracking square-root cubature Kalman filter for MEMS-INS/GPS/polarization compass integrated navigation system

机译：MEMS-INS / GPS /偏光罗盘集成导航系统的多速率强跟踪方形搭配卡尔曼滤波器

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摘要

The microelectromechanical system-inertial navigation system (MEMS-INS) is one of the most widely used sensor systems in navigation but must be used with other sensors because of its error accumulation characteristics. The information fusion method for integrated navigation systems based on filtering technology is thus very important. This paper introduces a new adaptive Kalman filter for nonlinear integrated systems. An improved multi-rate strong tracking square-root cubature Kalman filter (MR-STSCKF) for a MEMS-INS/Global Positioning System (GPS)/polari-zation compass integrated navigation system is proposed. The proposed filter is used to estimate the system covariance adaptively. The proposed approach can overcome the problem of the inconsistency between the sampling frequencies of different sensors while maintaining the high precision of the integrated navigation results. Experimental results demonstrate that the proposed MR-STSCKF algorithm is effective in improving the accuracy of the MEMS-INS/GPS/polarization compass integrated navigation system with a high sampling frequency.
机译：微机电系统惯性导航系统（MEMS-INS）是导航中使用最广泛的传感器系统之一，但由于其误差累积特性，必须与其他传感器一起使用。因此，基于滤波技术的集成导航系统信息融合方法非常重要。本文介绍了一种用于非线性集成系统的新型Adaptive Kalman滤波器。提出了一种改进的MEMS-INS /全球定位系统（GPS）/极化ZOACT罗盘集成导航系统的改进的多速率强力跟踪方形拟CQalman滤波器（MR-STSCKF）。所提出的滤波器用于自适应地估计系统协方差。所提出的方法可以克服不同传感器的采样频率之间不一致的问题，同时保持集成导航结果的高精度。实验结果表明，所提出的MR-STSCKF算法有效地提高了具有高采样频率的MEMS-INS / GPS /偏振罗铜集成导航系统的精度。

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  • 来源
    《Mechanical systems and signal processing》 |2022年第1期|108146.1-108146.11|共11页
  • 作者

    Chong Shen; Yufeng Xiong; Donghua Zhao; Chenguang Wang; Huiliang Cao; Xiang Song; Jun Tang; Jun Liu;

  • 作者单位

    Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education School of Instrument and Electronics North University of China Taiyuan 030051 PR China;

    Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education School of Instrument and Electronics North University of China Taiyuan 030051 PR China;

    Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education School of Instrument and Electronics North University of China Taiyuan 030051 PR China;

    Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education School of Instrument and Electronics North University of China Taiyuan 030051 PR China;

    Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education School of Instrument and Electronics North University of China Taiyuan 030051 PR China;

    School of Electronic Engineering Nanjing Xiaozhuang University Nanjing 211171 PR China;

    Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education School of Instrument and Electronics North University of China Taiyuan 030051 PR China;

    Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education School of Instrument and Electronics North University of China Taiyuan 030051 PR China;

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  • 正文语种 eng
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  • 关键词

    Cubature Kalman filter; Strong tracking; Multi-rate residual; Integrated navigation system;

    机译：Cubature Kalman过滤器;坚强的跟踪;多速率残差;集成导航系统;

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