一种组合导航的自适应信息融合算法  

An Adaptive Algorithm of Information Fusion for Integrated Navigation

作　　者：刘江[1] 蔡伯根[1] 

机构地区：[1]北京交通大学轨道交通控制与安全国家重点实验室,北京100044

出　　处：《北京交通大学学报》2008年第2期88-93,共6页JOURNAL OF BEIJING JIAOTONG UNIVERSITY

基　　金：国家自然科学基金资助项目(60736047);国家"863"计划资助项目(2007AA11Z214)

摘　　要：以GPS/INS组合导航系统为应用背景,针对组合导航系统信息融合的精度与稳定性要求,将简化的Sage-Husa自适应滤波算法与指数加权衰减记忆滤波算法相结合,提出了一种改进的自适应信息融合算法.仿真表明,改进的自适应算法解决了噪声统计特性和模型参数不易确定的问题,能够有效的保证信息融合的精度和稳定性.在算法仿真的基础上,对在VC++6.0环境下算法进行了改进,给出了GPS/INS组合导航系统的结构及软件框架,通过实验验证了改进的自适应算法的实际应用价值.Based on GPS/INS integrated navigation system, in order to meet the requirement of precision and stability, a new adaptive algorithm of information fusion is developed with the combination of the improved adaptive filter algorithm of Sage-Husa and exponentially-weighted fading memory. Simulation shows that this approach solves the uncertainty of statistical characteristic of noise and model parameter, and the filtering precision and stability are guaranteed. The new algorithm is applied in VC ＋ ＋ 6.0 environment. The diagram of GPS/INS integrated navigation system and the structure of software are given. Some experiments validated its practical value.

关 键 词：组合导航 信息融合 自适应滤波 全球定位系统 惯性导航系统 

分 类 号：U666.11[交通运输工程—船舶及航道工程]