摘要
阐述一种利用多传感器信息融合技术提高车辆定位精度和可靠性的方法。首先,通过建立陀螺仪、加速度计和里程计传感器的数学模型和联邦卡尔曼滤波器数学模型,对SINS/GPS/OD传感器采集到的数据进行信息融合处理,提高系统定位精度和可靠性;其次,采用MATLAB对纯惯性导航系统、SINS/GPS/OD组合导航系统及其各子系统进行了数字仿真。仿真实验结果表明:本系统较纯惯性导航系统定位精度显著提高,并具备一定的容错能力。
The authors describe a method of using muhi-sensor information fusion technology to improve vehicle positioning accuracy and reliability. Through establishing the mathematical model of gyroscopes, aceelerometers and odometer sensor and the mathematical model of federal Kalman filter to fuse the collected data improved the positioning accuracy and relia- bility of syslem. Finally, we used MATLAB to simulate the pure inertial navigation system, SINS/GPS/OD integrated navi- gation system and its various subsystems. The simulate result shows： the system had more positioning accuracy than pure inertial navigation system and capable some fault tolerance.
出处
《数字通信》
2013年第4期14-17,共4页
Digital Communications and Networks
关键词
多传感器信息融合
组合导航系统
卡尔曼滤波器
multi-sensor information fusion, integrated navigation system, Kalman filter
