Processing the measurement delay INS/SAR integrated navigation in-coordinate interval filtering algorithm study

Because of the images matching position in INS/SAR integrated navigation system needing the unequal matching calculation time,which resulted in in-coordinate interval and delay characters of measurement output.The integrated filtering with the common kalman filtering algorithms couldn't get high degree of accuracy for the problem.At first,the paper analyzed the common kalman filtering work process.And then the paper gave the filtering algorithms for solving the problem of in-coordinate interval and measurement delay.The paper utilized the character of the system state transition matrix,and designed the corresponding in-coordinate interval kalman filtering algorithms to solve the problem of in-coordinate interval measurement.And based on the in-coordinate interval kalman filtering algorithms,the paper gave the scheme of solving the measurement delay.With the analysis of the covariance,the paper analyzed the filtering accuracy of all of the common kalman filtering,the in-coordinate interval kalman filtering and the algorithms of solving the measurement delay.And the simulation results have verified the high degree of accuracy of the algorithms presented in paper.