关键词: 组合导航, 卡尔曼滤波, 自适应反馈校正, SINS/GPS, 可观测度

Abstract:

The feedback Kalman filter is widely used in the data fusion of strapdown inertial navigation system (SINS)/ global position system (GPS) integrated navigation system which is incomplete observable. The accuracy of Kalman filter will degrade so severely that the Kalman filter is likely diverge due to the direct feedback on some system states with lower observability. To solve the problem, a new adaptive feedback Kalman filter based on the observability analysis of system states is presented in this paper.

Key words: integrated , navigation,  , Kalman , filter,  , adaptive , feedback,  , SINS/GPS,  , observable , degree