Innovation Based Adaptive Filter Designs For Navigation Applications

• Main Authors: Jia-ming Huang, 黃家明
• Other Authors: Dah-Jing Jwo
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/06653167136502725617

碩士 === 國立臺灣海洋大學 === 通訊與導航工程系 === 94 === Abstract To use Kalman filtering for kinematic positioning and navigation, we have to deal with both observational and kinematic models. Both of the functional models may contain global or local systematic errors. The influence functions of the systematic errors on the estimates of kinematic states are derived. An adaptive fitting method for systematic error of the observations and kinematic model errors is presented. In this paper a brief review of adaptive filtering is followed by an analysis of the short comings of covariance matrices formed by windowing residual vectors, innovation vectors and correction vectors of the dynamic states. An adaptive filter usually applied in dynamic geodetic positioning is the IAE(Innovation-based adaptive estimation). It uses the residual or innovation vectors from historical epochs to evaluate the measurement precision of the present epoch, and the residuals from the predicted state parameters of historical epochs to estimate the precision of the predicted state parameters. Usually the IAE works well if the states and measurement errors are stable. In this case the windowing method can give reasonable covariance matrices of the measurement vectors and the predicted states. The authors introduced an adaptive factor to balance the weights between the measurements and the predicted state parameters from the state equations, by which the bad effects of the unstable prior states predicted by the dynamical function can be controlled. An initial weight matrix or covariance matrix of the predicted state at present epoch is needed for the adaptive filtering. Improve the deficiency of Kalman filter by this, to the influence estimating the examining value when but IAE is unable the effective state of a control is unusual, so quoting can control association's variance matrix of miscellaneous news of the trends and make the method that location improve in GPS and DME platform wholly.