针对不同的捷联惯性基组合导航滤波算法在性能上存在较大差异,开展了捷联惯性基组合导航滤波算法的比较分析研究,通过分析不同滤波框架下,基于四元数姿态表达的两种典型组合导航滤波算法,阐述算法理论中的关键异同点。通过车载实测实验比较了基于欧拉角的间接法组合导航滤波和基于四元数的两种非线性组合导航滤波在估计精度、计算量等方面的优劣性,结果表明,基于欧拉角的间接法组合导航滤波精度较差但计算量小,而基于四元数的非线性组合滤波计算量较大、精度较高,该结果可为组合导航滤波的选取提供有益的参考。

In view of the great differences of different Kalman filters for SINS based integrated navigation in performance, a comparison of Kalman filters for SINS based integrated navigation was carried out.Under different filtering frameworks, the key similarities and differences of two quaternion based classical integrated navigation algorithms were studied.Through car-mounted experiment, the Euler based indirect integrated navigation filter was compared with the two quaternion based nonlinear integrated navigation filters on accuracy and calculation amount.The results showed that the Euler based integrated navigation filter has poor filtering accuracy but small calculation amount, while the quaternion based integrated navigation filters have better filtering accuracy but larger calculation amount.The results can provide a useful reference for the selection of integrated navigation filtering.