一种异步多传感器组合导航系统融合算法  

One Fusion-Algorithm of Asynchronous Multi-Sensor Integrated Navigation System

作　　者：林雪原[1] 

机构地区：[1]海军航空工程学院电子信息工程系,烟台市二马路188号264001

出　　处：《武汉大学学报（信息科学版）》2012年第1期54-57,67,共5页Geomatics and Information Science of Wuhan University

基　　金：国家自然科学基金资助项目(60874112);"泰山学者"建设工程专项经费资助项目

摘　　要：针对不同导航传感器存在的采样率不同步(或尺度不同),提出了一种基于状态方程多尺度变换的异步多传感器组合导航系统信息融合算法。仿真结果表明,本算法不仅具有较好的实时性,而且具有较好的融合精度。According to the different sampling rate or different scale of different navigation sensor,this paper puts forward one information fusion algorithm for asynchronous multi-sensor integrated navigation system based on the multi-scale transformation of state equ-ation.This paper first builds up the state equation of integrated navigation system based on the highest sampling rate or the finest scale,then this state equation is decomposed into different scale to establish several state equations based on different scale and the corresponding measurement equation,at last the global and optimal information fusion algorithm based different scale is finished.The simulation results show that this algorithm has not only better real-time,but also better fused precision.

关 键 词：多尺度 多采样率 多传感器组合导航 卡尔曼滤波 融合算法 

分 类 号：P228.41[天文地球—大地测量学与测量工程]