基于遗传算法的多模型Kalman滤波算法 及应用研究

王子亮; 房建成; 全伟

基于遗传算法的多模型Kalman滤波算法及应用研究

1.
北京航空航天大学宇航学院, 北京 100083
2. 中国地质大学地球物理与信息技术学院, 北京 100083

基金项目: 国防预研基金资助项目(00J9.2.1HK01); 国防"十五"预研资助项目

详细信息

作者简介:
王子亮(1981-),男,江西九江人,硕士生, fancy1981@sina.com.

中图分类号: V 666.11
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- 被引次数: 0
出版历程
- 收稿日期: 2003-05-23
- 网络出版日期: 2004-08-31

Multi-model Kalman filter algorism based on GA

1.
School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2. School of Physical Geography and Information Technology, China University of Geoscience, Beijing 100083, China

摘要

摘要: 基于长航时无人机惯性/天文/卫星(INS/CNS/GPS)组合导航系统模型,针对复杂环境所引起的系统模型参数变化导致单一固定参数滤波器精度降低问题,提出了一种基于遗传算法的多模型自适应Kalman滤波算法,并与单一模型下的Kalman滤波器方法进行了比较.仿真结果表明,与采用单一模型的Kalman滤波算法相比,该方法不仅能大大提高导航系统的精度和可靠性,而且还可以较好地辨识出组合导航系统惯性器件噪声统计模型参数.
- 组合导航 /
- 卡尔曼滤波 /
- 遗传算法 /
- 多模型自适应估计
Abstract: A multi-model Kalman filter based on GA(genetic algorism) was designed. When the parameter is imprecise, estimation results of Kalman filter are false.Method used in this paper can estimate the best parameters on line,so as to get true estimation results.At the end of this paper the application to integrated navigation system was studied with simulation. The results of simulation show that as compared with single-model algorithm, this method not only can improve accuracy and reliability of integrated navigation system greatly,but also can identify the noise statistical models of inertial elements in the integrated navigation system relatively well.
- combinated navigation /
- Kalman filtering /
- genetic algorism /
- multi-model adaptive estimation

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参考文献(1)

[1]Magill D T. Optimal adaptive estimation of sampled stochastic processes[J].IEEE Trans AC, 1965, 10(5):434～439 [2] 海娜.基于多模型的组合导航系统信息融合技术研究[D].北京:北京航空航天大学宇航学院,2003Weng Haina.Research on information fusion technology for integrated navigation system based on multiple model[D]. Beijing:School of Astronautics, Beijing University of Aeronautics and Astronautics,2003(in Chinese) [3] 旭东. 带有成长算子的遗传算法[J]. 哈尔滨工业大学学报, 1999, 31(5):44～47Yang Xudong.Genetic algorism with growing operator[J].Jounal of Harbin Institute of Technology,1999,31(5):44～47(in Chinese)  [4] 艳华,房建成,贾志凯.INS/CNS/GPS组合导航系统仿真研究[J].中国惯性技术学报,2002,10(6):6～11Li Yanhua,Fang Jiancheng,Jia Zhikai.Simulation of INS/CNS/GPS integrated navigation[J].Jounal of Chinese Inertial Technology,2002,10(6):6～11(in Chinese) [5] 旭东.遗传算法Kalman滤波器及其在组合导航中的应用研究[D]. 哈尔滨：哈尔滨工业大学控制科学与工程系, 1999Yang Xudong.Genetic algorism Kalman filter and its application in integrated navigation[D].Harbin:Dept. of Control Science and Engineering, Harbin Institute of Technology，1999(in Chinese)  [6] e Yan,Guo Zhijiang,Jiang Jingping.Design of the adaptive interacting mutilple model algorism[A]. Proceedings of the American Control Conference[C].Anchorage,2002.764～769

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