Research on Dynamic Differential Filtering Method of MPOS Based on Centralized Kalman Filtering

Abstract

Due to its low cost, small size and good performance, MPOS is an indispensable core component of airborne products. A high-precision airborne MPOS system is proposed in this paper. The composition of the system is introduced, and the mathematical model is established in this paper. Furthermore, the centralized Kalman filter method is used to filter the combination of MIMU and differential GNSS(RTK-GPS). The actual flight test was conducted to verify the proposed algorithm and system. The result shows that in the airplane operating environment with complex disturbances, the propose system can still obtain high positioning accuracy, with a position accuracy of 0.4m, a speed accuracy of 0.02m/s, and a heading accuracy Up to 0.04°, which can met the requirements of higher aircraft differential positioning accuracy, and has a certain degree of adaptability and practical application value.