信息融合技术在INS/GPS/DVS组合导航系统中的应用

本文探讨了INS/GPS/DVS组合导航系统中的信息融合技术问题,介绍了联邦滤波算法的基本思想,根据INS、GPS、DVS的导航特点建立了较完整的状态方程,并以INS/GPS及INS/DVS组合分别构成组合导航系统的子滤波器,建立了相应的量测方程;阐述了主滤波器的最优估计融合算法,并给出了该算法与集中滤波算法等效的条件;最后采用无反馈的模式对组合导航系统中的联邦滤波算法进行了计算机仿真与分析.结果表明,联邦滤波算法可以充分利用各导航传感器的信息,并在减少计算量的前提下有效地提高导航系统的精度,具有较大的工程应用价值.

Information fusion technique and its application in INS/GPS/DVS integrated navigation system

Information fusion technology was discussed in INS/GPS/DVS integrated navigation system.A simplified theory of federated filtering algorithm was introduced;A series of relatively integrated state equations were established on the basis of INS,GPS,DVS' navigation characteristic,the combined system of INS/GPS and INS/DVS were used to constitute the integrated navigation system's sub filters separately,and measure equations were established accordingly;the optimized estimating fusion algorithm of main filter was discussed along with the condition that this algorithm was equivalent to centralized filtering algorithm;finally,computer simulation and its analysis of the federated filtering algorithm in the integrated navigation system was brought forward using the un-feedback mode.Simulation results explained that federated filtering algorithm could make full use of the information came from different navigation sensors,navigation system's precision was improved in the premise of reducing calculating burden,and this showed its great value in project.