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针对大方位失准角的机载SINS/GPS组合导航系统,为保证在高动态环境下实现高精度、高可靠的导航,利用强跟踪EKF滤波残差设计了一种基于残差统计特性的坏值检测算法,对导航信息进行估计和跟踪。仿真结果表明,该算法能够实时检测出GPS量测信息中的坏值信息,隔离后可显著提高组合导航精度,具有较高的可靠性、出色的容错能力和重要的工程应用价值。
For the SINS / GPS integrated navigation system with large azimuth misalignment, in order to ensure high precision and high reliability of navigation in high dynamic environment, a residual tracking error based on the residual EKF filtering residual is designed. Value detection algorithm, the navigation information to be estimated and tracked. The simulation results show that the algorithm can detect the bad value of GPS measurement information in real time and can significantly improve the accuracy of combined navigation with high reliability, excellent fault tolerance and important engineering application value.