Full
LIN Xueyuan, PhD, professor, majors in integrated navigation and its information fusion, E-mail: linxy_ytcn@126.com
Outline
To enhance the filtering performance of the maximum correntropy Kalman filter(MCKF) method in complex environments, an adaptive maximum correntropy Kalman filter algorithm(AMCKF) for GNSS/SINS integrated navigation systems is proposed. Firstly, based on the relationship between the filtering fault detection function values at the current and the past (l-1) time steps and the detection threshold, two mapping relationships of 0 and 1 are formed. Then, a window of length l is constructed using the mapped values, and a kernel width adaptive adjustment algorithm is proposed. Finally, this kernel width adaptive adjustment algorithm is applied to MCKF to form the AMCKF algorithm for the integrated navigation system. Experiments are conducted on a GNSS/SINS integrated navigation system under measurement environments with Gaussian white noise and heavy-tailed impulsive noise. The results indicate that AMCKF can adaptively adjust the kernel width value according to different measurement noise environments, thereby improving the filtering accuracy of the integrated navigation system. Compared with KF and MCKF, AMCKF can improve position accuracy by approximately 26.5% and 16.4%, respectively, and improve velocity accuracy by approximately 15.5% and 6.4%, respectively.
36
16
| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
关闭全屏
No. 86 Xueyuan South Road, Haidian District, Beijing
010-62662699(Operation and Technical Support)
qkjq@cast.org.cn
Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House
