多导航传感器的多模卡尔曼滤波研究  

Study on multi-model Kalman filter of multi-navigation sensors

作　　者：赵汪洋[1] 杨功流[2] 庄良杰[2] 

机构地区：[1]天津大学机械工程学院,天津300072 [2]天津航海仪器研究所,天津300131

出　　处：《传感器与微系统》2006年第7期85-88,共4页Transducer and Microsystem Technologies

基　　金：海装"十五"预研项目资助(413090202)

摘　　要：将多模自适应估计用于导航数据融合处理方法中,通过数字仿真将单一模型的惯导系统/全球定位系统/多普勒计程仪组合导航系统与多模自适应估计的组合导航系统的性能进行了比较,多模滤波器具有较明显的稳定滤波,而且,加大了测量值动态范围,说明了多模自适应估计在组合导航系统中可增强系统对环境的适应性,提高组合导航系统的精度。Multi-model adaptive estimation method is applied to data fusion of the intenerated navigation system. Comparing the single model performance of inertial navigation system （INS）/global position dystem （GPD）/ Doppler log integrated navigation system with that of multi-model adaptive estimation integrated navigation system by digital simulation, multi-model electric filter is satisfactory for stable filter. Multiple model adaptive estimation system can enhance the adaptability of integrated navigation system scheme to the environment and can greatly improve the accuracy of integrated navigation system.

关 键 词：组合导航 多模估计 卡尔曼滤波 惯导系统 卫星定位系统 

分 类 号：U666.16[交通运输工程—船舶及航道工程]