›› 2012, Vol. 32 ›› Issue (1): 21-26.doi: 10.3780/j.issn.1000-758X.2012.01.004

• 研究探讨 • 上一篇    下一篇

无反馈多级式多传感器组合导航系统

 林雪原   

  1. (海军航空工程学院,烟台 264001)
  • 收稿日期:2011-03-15 修回日期:2012-02-25 出版日期:2012-02-25 发布日期:2012-02-25
  • 作者简介:林雪原 1970年生,2004年获南京航空航天大学导航、制导与控制专业博士学位,副教授。研究方向为数据融合、卫星定位以及组合导航系统。
  • 基金资助:

    国家自然科学基金(60874112),“泰山学者”建设工程专项经费资助项目

Multi-level Multi-sensor Integrated Navigation System Without Feedback

 LIN  Xue-Yuan   

  1. (NavalAeronauticalandAstronauticalUniversity,Yantai264001)
  • Received:2011-03-15 Revised:2012-02-25 Online:2012-02-25 Published:2012-02-25

摘要: 传统的多传感器组合导航系统大都采用集中式、分布式与混合式信息融合方法,而多级式信息融合算法是上述3种算法的发展,可完成高层次空间融合。文章首先研究了基于无反馈信息的多传感器组合导航系统的多级式信息融合算法,然后理论分析证明该算法与无反馈形式的联邦卡尔曼滤波算法等价,最后以SINS/GPS/ SST/高度表多组合导航系统为例,对上述算法及结论进行了仿真与验证。

关键词: 联邦滤波, 多级式融合, 融合算法, 组合导航系统

Abstract: The centralized, distributed and combined information fusion methods are usually used by the traditional multi-sensor integrated navigation system, butthe multi-level information algorithm is the upgrade of the above methods, and can fulfill the fusion at the high grade space. Thus, the multi-levelinformation fusion method of the multi-sensor integrated navigation system without feedback information was studied, and then the theoretical analysisshows that this method is equivalent to the federated Kalman filter algorithm without feedback information. Finally, the SINS/GPS/SST/altimeter was usedto simulate and verify the above methods.

Key words: Federated Kalman filter, Multi-level fusion, Fusion algorithm, Integrated navigation system