关键词: 组合导航, 自适应卡尔曼滤波, 新息, 协方差

Abstract: The performance of the Kalman filter in SINS/GPS integrated navigation deteriorates drastically due to the fact that GPS signals are sheltered as they lead to the unexpected error of the measurement. Aiming at this problem, a modified adaptive Kalman filter is proposed on the basis of analyzing the adaptive Kalman filter based on the online estimation of the covariance of measured noise. Based on adjusting the covariance matrix of state predication error by faulty innovation, the new method solves the problem of serious non-conformance between the covariance of innovation and the actual. The result of simulation experiment proves the effectiveness of the novel method compared with the Kalman filter, the adaptive robust Kalman filter and the adaptive Kalman filter.

Key words: integrated navigation, adaptive Kalman filter, innovation, covariance