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.
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
.
DOI: 10.11947/j.AGCS.2016.20140530
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