為了有效防止捷聯慣導系統濾波發散，本文從卡爾曼濾波原理出發，介紹了漸消卡爾曼濾波原理、遺忘因子等內容，通過對漸消因子的推導及計算機仿真，給出了常規卡爾曼濾波器和漸消卡爾曼濾波器對系統進行濾波的結果比較。該結果表明，采用漸消卡爾曼濾波器在工程實踐上確實可以解決捷聯慣導系統濾波發散的問題。
關鍵詞： 卡爾曼濾波 自適應 捷聯慣導系統 濾波發散
Adopt Reducing Kalman Filter to Prevent Strapdown Inertial Navigation System From Distortion of Filter YANG Bai-jun,PAN Hong-fei,CAI Xiao-Feng (The 91851th Unit of PLA, Liaoning Huludao,125001) Abstract: To effectively prevent strapdown inertial navigation system from distortion of filter, this paper bases on principle of kalman filter , the principle of reducing kalman filter and oblivional factor are also introduced. Through derivation of reducing factor and simulation, the filtrate effect on system of reducing kalman filter is compared with general filter. The results show that applications of reducing kalman filter in engineering practice can surely prevent strapdown inertial navigation system from distortion of filter.
Keyword: Kalman filter; Adaptive; Strapdown inertial navigation system; Distortion of filter