当GNSS出现故障时,SINS/GNSS组合导航系统的输出误差就会增加,影响导航系统的性能。在此情况下,为了使组合导航系统的输出更加准确,文中论述了一种量测修正算法。该算法通过检查卡尔曼滤波残差,调整量测更新过程中观测量的权值,对状态量进行修正,减少了观测量异常对输出结果的影响。最后对量测修正算法以及简化的Sage-Husa自适应算法进行了仿真。仿真结果表明,两种方法得到的误差均优于标准卡尔曼滤波。

global navigation satellite system (GNSS)breakdown makes accretion of output error of SINS (strap-down inertial navigation system)/GNSS integrated navigation system, and then degrade system performance.In order to achieve more accurate output under these circumstances, in this article, a measurement correcting arithmetic was discussed.This arithmetic checks residual error of Kalman filter, modifies status value, and minimizes negative consequence of abnormal observed quantity.Finally, simulation was made based on the measurement correcting arithmetic and a simplified Sage-Husa self-adaptive arithmetic was made.The result of the simulation shows that two methods above have better performance compared with standard Kalman filter.