GPS/INS组合定位中INS消噪模型研究
The study of INS denoised model for GPS/INS Integrated navigation
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摘要: 针对GPS/INS组合导航的噪声对导航精度的影响问题,从频域角度,将组合导航的噪声分为高频噪声和低频噪声。本文引入了小波变换和AR模型两种方法消除噪声,通过对不含运动信息的静态数据建模,确定出小波消噪和AR模型消噪参数,构建了基于AR模型的KALMAN滤波体系,为组合导航噪声的消除提供了很好的借鉴。Abstract: In GPS/INS Integrated Navigation,the noise will reduce the navigation precision.In frequency domain,the noise of integrated navigation can be divided into high-frequency noise and low-frequency.First,wavelet transformation and AR model are introduced.After building the model to static data without motion information,denoising parameter of wavelet and AR model are determined.KALMAN filter system based on AR model is constructed,which apply in integrated navigation noise cancellation.
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