针对传统滤波算法中忽视了误差方程中的高阶量所引起的导航结果不够准确的问题, 提出了一种改进ESKF算法, 将基于误差状态建模的滤波算法同EKF相结合。针对组合导航的鲁棒性与适应性, 提出了一种将卡尔曼滤波算法与自适应滤波算法相结合的滤波算法, 并进行仿真验证。仿真结果表明: 当组合导航系统受到较大扰动时, 改进算法较传统滤波算法使组合导航系统在经度精度上提高了49.48%, 纬度精度上提高了34.21%,有效提高了组合导航系统的精确性和鲁棒性。

An improved ESKF algorithm is proposed to solve the inaccuracy problem of navigation results caused by ignoring the high order in the error equation in the traditional filtering algorithm,which combines the filtering algorithm based on the error state modeling with the EKF.Aiming at the robustness and adaptability of integrated navigation,a filtering algorithm combining Kalman filtering algorithm and adaptive filtering algorithm is proposed and verified by simulation.The simulation results show that when the integrated navigation system is disturbed greatly,the accuracy of longitude and latitude of the integrated navigation system is improved by 49.8% and 34.21% respectively compared with that of the traditional filtering algorithm,and the accuracy and robustness of the integrated navigation system are improved effectively.