引用本文:陈一虹,颜东,张洪钺.INS/GPS组合导航系统卡尔曼滤波的并行实现*[J].控制理论与应用,1997,14(2):219~223.[点击复制]
CHEN Yihong；YAN Dong and ZHANG Hongyue.Parallel Implementation of Kalman Filter for Integrated INS/GPS Navigation System[J].Control Theory and Technology,1997,14(2):219~223.[点击复制]
INS/GPS组合导航系统卡尔曼滤波的并行实现*
Parallel Implementation of Kalman Filter for Integrated INS/GPS Navigation System
摘要点击 1197  全文点击 467  投稿时间：1995-10-04  修订日期：1996-06-18
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DOI编号  
  1997,14(2):219-223
中文关键词  卡尔曼滤波  并行处理  组合导航
英文关键词  covariance Kalman filter  parallel processing  integrated navigation system
基金项目  
作者单位
陈一虹,颜东,张洪钺 北京航空航天大学自动控制系 
中文摘要
      本文采用并行处理技术对INS／GPS组会导航系统中卡尔曼滤波的实时性问题进行了研究．根据并行结构设计的原则，设计了卡尔曼滤波的并行结构，并分别在Transputer晶片机上实现双机、三机和六机的并行协方差卡尔曼滤波．通过对各种并行结构的效率分析可以看出，采用并行技术来解决组合导航系统中卡尔曼滤波的实时性，是一种十分有效的方法．
英文摘要
      In this paper，the real time implementation of Kalman filter for integrated INS/GPS navigation system is studied. According to general parallel design principle，parallel covariance Kalman filter using two，three and six Transputers were realized. From the result,we can see that the problem of the real time implementation of Kalman filter for integrated INS/GPS navigation system can be solved efficiently.