DR/GPS组合导航非线性自适应信息融合算法研究

针对实际工程中组合导航系统采集数据融合处理问题，建立了系统实测数学模型，提出了基于非线性系统的自适应信息融合算法，将系统未建模部分及高阶项作为噪声项与状态向量进行耦合估计，改善滤波算法对模型误差以及噪声假设的敏感性，通过仿真对比验证算法改进前后的效果，并用于DR/GPS组合导航系统。实验结果表明提出的数据融合算法能够提高系统的精确性，具有一定的实用价值。

Study of DR/GPS Integrated Navigation on Nonlinear Adaptive Data Fusion Algorithm

Aiming at data processing of practice engineering, the system mathematics models are propounded which is based on compensating for some model nonlinear errors according to the principle of data fusion. A new improved scheme named nonlinear robust data fusion algorithmis brought forward. Byestimating both the state and noise which including unmodelled part and high order item, the sensitivity of the algorithm to the model is improved. The effect of the improved algorithm is tested by the simulation in the environment of Matlab. The experimental results demonstrate that this algorithm can improve the accuracy of the integrated navigation system, thus has the value of practice application.