一种考虑GPS信号中断的导航滤波算法

Aimed at the problem of GPS data interruption in the UAV INS/GPS integrated navigation system, an improved filtering algorithm is designed. Firstly, the kinematics model of UAV navigation is established. Then the traditional extended Kalman filter (EKF) technique and strong tracking filter are combined. A new navigation filtering algorithm is designed by using the membership function in fuzzy theory. The simulation results show that the improved algorithm can quickly adapt to the sudden change of GPS signal. When the GPS signal recovers from the fault state to the normal state, the improved algorithm can converge to the steady state more quickly than the ordinary EKF algorithm, and the flight state is re-completed and estimated. At the same time, compared with the common EKF and strong tracking extended Kalman filter (STEKF) algorithm, the improved algorithm has higher filtering accuracy.