多传感器组合导航系统的多尺度滤波算法

基于多尺度的思想,首先将在最细尺度上建立的状态方程、量测方程改写为以数据块形式描述的对应方程;然后利用小波变换技术将最细尺度上的块状态向量向粗尺度上分解,并将在最细尺度上建立的量测方程表达为粗尺度上状态向量的函数;最后结合常规Kalman滤波技术,建立了一种动态系统的多尺度单模型滤波方法.将上述算法应用于多传感器组合导航系统,仿真结果验证了该算法在不增加计算量量级的情况下,具有较好的融合精度.

Multi-scale filtering method of multi-sensor integrated navigation system

Based on the idea of multi-scale,this paper converts the state and measurement equations established on the finest scale into those described in the form of data-block.Then wavelet transformation technique is used to decompose the block state vector on the finest scale into the coarse scale,and the measurement equation established in the finest scale is expressed in the form of block state vector on the coarse scale.Finally,a multi-scale single-model filtering method of dynamic system is combining the normal Kalman filtering technique.By applying the proposed method to the multi-sensor integrated navigation system,the simulation results show that this method has better fusion precision without increasing the computation magnitude.