两阶段卡尔曼滤波可以大大减小滤波计算量,而平方根滤波具有很好的数值稳定性,为提高在线标定的收敛速度,防止两阶段卡尔曼滤波因计算误差发散,文中结合两阶段卡尔曼滤波和基于序贯处理的平方根滤波的优势,改进了两阶段卡尔曼滤波算法,并将改进算法用于车载捷联惯导在线标定,仿真结果表明改进算法不仅提高了数值稳定性,减少了计算量而且获得了比扩张卡尔曼滤波更好的标定结果。

Two-stage Kalman filter can sharply reduce the load of calculation, and square root filter has good stability. In order to prevent volatilization of two-stage Kalman filter and increase the speed of constringency, combined with the advantages of two-stage Kalman filter and square root filter based on sequential processing, the two-stage Kalman algorithm was improved, and the improved algorithm was also applied to on-line calibration for the SINS on vehicle carrier. The simulation results show that the improved algorithm has better stabilization, and the calculation load is reduced, and better calibration result is got compared with extend Kalman filter.