摘要
在基于DSP的低成本MINS/GPS组合导航系统中,针对DSP的实型变量位数不足的缺点,在卡尔曼滤波器的设计中同时运用了状态与偏差解耦算法和平方根算法,并推导出状态与偏差解耦-平方根算法的具体公式,既能减少计算量,又能增强滤波的数值稳定性。
In low cost MINS/GPS integrated navigation system based on DSP, both separate-bias algorithm and square-root algorithm are used in designing Kalman filter because the bits of float point format of DSP is fewer than that of PC. Separate-bias-square-root algorithm is deduced. The algorithm can not only reduces computation but also enhances the numerical stability of filtering.
出处
《中国惯性技术学报》
EI
CSCD
2005年第5期16-19,共4页
Journal of Chinese Inertial Technology
关键词
组合导航
卡尔曼滤波
状态与偏差解耦
平方根算法
DSP
integrated navigation
Kalman filtering
separate-bias algorithm
square-root algorithm
DSP
