摘要
基于无复位(No-Reset)联邦Kalman滤波信息融合算法,提出并且探讨了组合导航应用过程中的信息融合问题。在建立的相关误差模型基础上,对所设计的采用联邦Kalman滤波技术的SINS/GPS/EMC组合导航系统进行了计算机仿真。结果表明,采用无复位联邦滤波结构的SINS/GPS/EMC组合导航系统能充分融合系统各种导航传感器的信息,能发挥它们各自的优点,互相取长补短,有效地提高导航系统准确度和可靠性。
Based on the information fusion arithmetic of No-Reset Kalman filter, the problem of information fusion in the application process of integrated navigation system is addressed and researched. On the foundation of the builded error model, the simulation of the SINS/GPS/EMC integrated navigation system that adopted NR federal Kalman filter is given out. The results show that the information of every navigation sensors of the system can be fused in the SINS/GPS/EMC integrated system, sufficiently make use of their own excellence and each other learn from other＇s strong points to offset one＇s weakness, so the accuracy and reliability of integrated navigation system was improved effectively.
出处
《宇航计测技术》
CSCD
2009年第2期41-44,共4页
Journal of Astronautic Metrology and Measurement
关键词
卡尔曼滤波
组合导航
信息融合
误差模型
Kalman filter Integrated navigation Information fusion Error model
