Research on algorithm of adaptive interacting multiple model for integrated navigation system
Hutao Cui · Systems engineering and electronics · 2008
The interacting multiple model(IMM) estimator has the defect that the more sub-models,the worse real-time performance.An adaptive interacting multiple model(AIMM) algorithm is presented,which combines the IMM algorithm with the simplified Sage-Husa adaptive filtering algorithm.The Sage-Husa adaptive filter is used to estimate the rough value of measurement noise statistical characteristics.The parameters of sub-models are calculated by the rough value and then are fed into the sub-filters in IMM algorithm,where the sub-filters have different parameters of noise.Simulation results of land vehicle integrated navigation show that the AIMM algorithm can achieve the coverage of real situation through a few sub-models,and the accuracy is higher than the IMM algorithm.