项鑫

• 1:河南省煤田地质局物探测量队

摘要(Abstract)：

当模型存在较大误差时,Kalman滤波存在发散现象,采用渐消因子虽可抑制模型误差的影响,但单个渐消因子难以取得理想效果。抗差估计理论为削弱异常误差影响提供了思路,采用无穷范数滤波与抗差估计相结合的方法可抑制滤波的发散,提高滤波器的稳定性。数据采集采用自行构建的IMU/GPS(Inertial Measurement Unit/Global Positioning System)组合导航系统,为检验无穷范数滤波与抗差估计相结合稳定性及抗差性,设计了Kalman滤波、无穷范数滤波、多重渐消无穷范数滤波、抗差多重渐消滤波等4种滤波算法进行解算。结果表明:多重渐消无穷范数滤波、抗差多重渐消滤波算法均表现出更好的稳定性,能够有效抑制滤波器发散、抵抗异常误差的影响,提高滤波解算的精度。

关键词(KeyWords)： Kalman滤波;无穷范数滤波;多重渐消无穷范数滤波;抗差多重渐消滤波;IMU/GPS

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基金项目(Foundation):

作者(Author): 项鑫

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