gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya / Gyroscopy and Navigation0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.2017.25.2.035-051gyroscopy-311Research ArticleСтатьиНовый адаптивный ансцентный фильтр Калмана для сильносвязанной инерциально-спутниковой навигационной системыNovel adaptive UKF for tightly-coupled INS/GPS integration with experimental validation on an UAVКалафВ.KhalafW.

Калаф Вассим. Доктор наук, доцент, начальник навигационной лаборатории. Факультет электронных и механических систем

ЧоуэйбИ.ChouaibI.

Чоуэйб Ибрагим. Доктор наук, профессор, начальник департамента электронных и механических систем. Факультет электронных и механических систем

ВайнахМ.WainakhM.

Вайнах Мухиддин. Доктор наук, профессор. Факультет электронных и механических систем

Факультет электронных и механических систем, Высший институт прикладной науки и техники (Дамаск)СирияDepartment of Electronic & Mechanical Systems, Higher Institute for Applied Sciences and Technology (HIAST), DamascusSyrian Arab RepublicВысший институт прикладной науки и техники (Дамаск)СирияDepartment of Electronic & Mechanical Systems, Higher Institute for Applied Sciences and Technology (HIAST), DamascusSyrian Arab Republic2017251120252523551Copyright © Калаф В., Чоуэйб И., Вайнах М., 20252025Калаф В., Чоуэйб И., Вайнах М.Khalaf W., Chouaib I., Wainakh M.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/311

В статье представлен новый адаптивный ансцентный фильтр Калмана (НААФК), применяемый для сильносвязанного комплексирования (ССК) выходных данных бесплатформенного инерциального измерительного модуля (ИИМ), GPS-измерений (псевдодальностей и доплеровских смещений), а также данных магнитометра и баровысотомера. Предложенный НААФК описывает как порождающие шумы системы, так и шумы измерений гауссовскими белыми шумами с ненулевым средним, величина которого оценивается в процессе обработки в реальном времени с использованием адаптивного алгоритма. Процедуры статистической оценки шумов, разработанные в предложенном алгоритме, построены с учетом «коэффициента старения информации», который обычно вычисляется эмпирически. В данном исследовании используется новый вычислительный подход, основанный на некотором «генетическом алгоритме» в качестве средства для определения его оптимального значения. Функционирование и сходимость процедур статистической оценки шумов, используемых в НААФК, исследуются путем моделирования по методу Монте-Карло. Использование НААФК для ССК применительно к инерциально-спутниковой навигационной системе (ИСНС) показал его преимущество над традиционно используемым ансцентным фильтром Калмана (АФК), особенно во время пропадания сигналов GPS. Такое сопоставление проведено экспериментально с использованием данных, полученных в процессе реального полета беспилотного летательного аппарата (БЛА).

A Novel Adaptive Unscented Kalman Filter namely (NAUKF) has been developed and applied to fuse the outputs of strap-down IMU, the measurements of GPS satellites (pseudo-range and Doppler), strap-down magnetometer and a barometric altimeter, using tight coupling architecture. The proposed filter NAUKF considers the residual unmodeled noises of process and measurement as non-zero mean Gaussian white noises, estimates and compensates for the mean (bias) and covariance of the noise online, based on the principles of adaptive filtering, even if they are time-varying quantities. Employing the adaptive filtering principle into UKF, the nonlinearity of system can be restrained and the NAUKF is obtained. The noise statistic estimators designed in the proposed algorithm are built on basis of forgetting factors which are usually calculated empirically, in this research a new calculation concept based on “Genetic Algorithm” as an optimization tool is utilized to determine the optimal values of forgetting factors. The performance and convergence of noise statistic estimators used in NAUKF are checked by Monte-Carlo simulation. The utilization of NAUKF for Tightly-Coupled INS/GPS Integration (TCI) showed a superiority against the UKF for TCI especially during the GPS outages. The comparison is done experimentally by means of real flight trip of an UAV.

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The authors declare that there are no conflicts of interest present.