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基于CKF的GNSS/INS列车组合定位鲁棒滤波算法

, PP. 102-107

Keywords: 列车定位,组合定位,全球导航卫星系统,惯性导航系统,求积卡尔曼滤波,H∞鲁棒滤波中图分类号,U284.48文献标志码,A

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Abstract:

针对列车组合定位融合估计的非线性以及鲁棒性问题,分析了GNSS/INS列车组合定位的基本原理和系统结构,给出了非线性滤波算法CKF的基本过程,通过将H∞鲁棒滤波思想应用于标准CKF,提出了一种基于CKF的新型鲁棒滤波算法,从滤波器收敛判别及误差H∞范数界鲁棒性判别两方面探讨了滤波器的自主状态监测,并采用青藏铁路实测数据对算法进行了验证。分析结果表明在该实测数据条件下,所提算法平均估计误差与标准UKF、CKF相比,分别降低了7.13%、4.85%;约束水平从31.5到1315.0时,估计误差均方根增大了8.56%,估计精度变化趋势较平缓,该算法有效。

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