The Application of Adaptive Federated Filter in GPS-INS-Odometer Integrated Navigation

doi:10.11947/j.AGCS.2016.20140530

Acta Geodaetica et Cartographica Sinica ›› 2016, Vol. 45 ›› Issue (2): 157-163.doi: 10.11947/j.AGCS.2016.20140530

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The Application of Adaptive Federated Filter in GPS-INS-Odometer Integrated Navigation

LI Zengke^{1 2}, WANG Jian^{1 2}, GAO Jingxiang^{1 2}, YAO Yifei²

1. NASG Key Laboratory for Land Environment and Disaster Monitoring, China University of Mining and Technology, Xuzhou 221116, China;
2. School of Environment Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China

Received:2014-10-15 Revised:2015-05-13 Online:2016-02-20 Published:2016-02-29
Supported by:
The National High-tech Research and Development Program of China (863 Program) (No.2013AA12A201);The Priority Academic Program Development of Jiangsu Higher Education Institutions(No.SZBF2011-6-B35);Specialized Research Fund for the Doctoral Program of Higher Education of China (No.20130095110022)

Abstract

Abstract: In multi-sensor integrated navigation, extensive observation information, low computational efficiency and weak robust ability will lead to poor navigation performance. An adaptive federated filter is proposed and applied in GPS-INS-Odometer integrated navigation. First the dynamical model and observation model of GPS-INS-Odometer integrated navigation are introduced. Information allocation factor and adaptive factor are compared to find out their common characteristic. The equivalence property between federated filter and adaptive filter is proved and the condition of equivalence is built. The information allocation factor of adaptive federated filter is constructed. Finally an actual calculation was performed to test the validity of new algorithm. The results of the experiment indicate that compared with the information allocation factor constructed by initial variance of GPS and Odometer in classical federated filter, adaptive federated filter shows well robust performance and high computational efficiency. It can weaken the influence of multi-sensor dynamical model disturbance on navigation resolution. The proposed method plays a positive role in improving the accuracy of directly measurable parameters and indirectly measurable parameters.

Key words: GPS-INS-Odometer integrated navigation, federated filter, adaptive factor, information allocation factor

CLC Number:

P228

LI Zengke, WANG Jian, GAO Jingxiang, YAO Yifei. The Application of Adaptive Federated Filter in GPS-INS-Odometer Integrated Navigation[J]. Acta Geodaetica et Cartographica Sinica, 2016, 45(2): 157-163.

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The Application of Adaptive Federated Filter in GPS-INS-Odometer Integrated Navigation

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