TY - GEN
T1 - A measurement-based robust adaptive kalman filtering algorithm
AU - Chang, Yanhong
AU - Zhang, Hai
AU - Zhou, Qifan
PY - 2012
Y1 - 2012
N2 - In the case that the accuracy of standard kalman filter (SKF) declines when the noise statistical characteristics are unknown or changing, a measurement-based adaptive kalman filtering algorithm (MAKF) is presented. Based on the contrastive analysis of measurement characteristics of different measurement systems, MAKF is put forward to estimate adaptively the measurement noise variance R by co-difference measurement sequences. Simulation is performed by applying this algorithm to the GPS/INS integrated navigation system, the results show that MAKF can track the GPS measurement noise in real time on condition that the GPS measurement noise is unknown or changing, and the filtering accuracy and robustness are superior to those of SKF and an improved Sage-Husa adaptive kalman filtering algorithm.
AB - In the case that the accuracy of standard kalman filter (SKF) declines when the noise statistical characteristics are unknown or changing, a measurement-based adaptive kalman filtering algorithm (MAKF) is presented. Based on the contrastive analysis of measurement characteristics of different measurement systems, MAKF is put forward to estimate adaptively the measurement noise variance R by co-difference measurement sequences. Simulation is performed by applying this algorithm to the GPS/INS integrated navigation system, the results show that MAKF can track the GPS measurement noise in real time on condition that the GPS measurement noise is unknown or changing, and the filtering accuracy and robustness are superior to those of SKF and an improved Sage-Husa adaptive kalman filtering algorithm.
KW - Adaptive kalman filtering
KW - GPS/INS
KW - Integrated navigation
KW - MAKF
UR - https://www.scopus.com/pages/publications/84862915666
U2 - 10.4028/www.scientific.net/AMR.433-440.3773
DO - 10.4028/www.scientific.net/AMR.433-440.3773
M3 - 会议稿件
AN - SCOPUS:84862915666
SN - 9783037853191
T3 - Advanced Materials Research
SP - 3773
EP - 3779
BT - Materials Science and Information Technology, MSIT2011
T2 - 2011 International Conference on Material Science and Information Technology, MSIT2011
Y2 - 16 September 2011 through 18 September 2011
ER -