基于联邦滤波的偏振光/SINS/BDS/地磁组合导航算法  

Polarized light /SINS/BDS/ geomagnetic integrated navigation algorithm based on federated filtering

作　　者：马伟 李沅[1] 康健 侯琪 李皓 王丰 MA Wei;LI Yuan;KANG Jian;HOU Qi;LI Hao;WANG Feng(School of Information and Communication Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学信息与通信工程学院,山西太原030051

出　　处：《传感器与微系统》2022年第2期136-139,共4页Transducer and Microsystem Technologies

基　　金：山西省青年科技研究基金资助项目(201901D211251)。

摘　　要：针对高稳定目标导航参数获取对多传感器融合算法的需求,提出一种偏振光/捷联惯性导航系统(SINS)/北斗卫星导航系统(BDS)/地磁组合导航方法。分析了各类传感器的导航性能,采用联邦卡尔曼滤波器两级结构,利用子滤波器进行局部估计,主滤波器进行多传感器数据融合,研究了基于联邦卡尔曼滤波方法的多传感器数据融合导航算法。进行了预定路径往返运动实验,运动距离2 300 m,系统定位的东向误差3.230 5 m,北向误差3.741 9 m,系统可用于平台、地面、空间运动导航。A new integrated navigation method of polarized light/strapdown inertial navigation system(SINS)/BeiDou navigation satellite system(BDS)/geomagnetic is proposed to meet the need of multi-sensor fusion algorithm for obtaining navigation parameters of highly stable targets.The navigation performance of various sensors is analyzed, and the federated Kalman filter two-stage structure is adopted, the sub-filter is used for local estimation, the main filter is used for multi-sensor data fusion, and the multi-sensor data fusion navigation algorithm based on federated Kalman filter is studied.The round-trip movement experiment of the predetermined path is carried out.The movement distance is 2 300 m, and the eastward error of the system positioning is 3.230 5 m, and the northward error is 3.741 9 m.The system can be used for platform, ground and space movement navigation.

关 键 词：多传感器融合 组合导航 联邦卡尔曼滤波 偏振光 

分 类 号：TN967.2[电子电信—信号与信息处理] TP212[电子电信—信息与通信工程]