### Improved multiscale filtering algorithm of multisensor integrated navigation system#br#

LIN Xueyuan, SUN Yumei, DONG Yunyun, QIAO Yuxin, CHEN Xiangguang

1. 1 Department of Electrical and Electronic Engineering，Yantai Nanshan University，Yantai265713，China
2 Beijing Institute of Technology，Beijing100081，China

• Online:2020-08-25 Published:2020-07-20

Abstract: Multi-scale filtering algorithm has been successfully used in multisensor integrated navigation system, but this algorithm uses measurement vectors at different times, thus causing heavy computation burden and affecting the system′s real-time performance. According to the shortcomings of the application, the block partition technique and wavelet transformation were used to change the system state equation described in timedomain into block state equation. Then,the real-time measurement vector was expressed in the form of block state equation. At last, an improved multi-scale filtering method of multi-sensor integrated navigation system was established using Kalman filter and sequential filter. The algorithm was applied to the GPS/SST/SINS multisensor integrated navigation system, and the simulation results show that this algorithm has not only better realtime and recursive performance, but also better fused precision.