摘要
为了提高组合导航系统数据融合的精度和容错性,提出一种双联邦UKF组合导航数据融合方法。采用双联邦UKF滤波器的算法将JTIDS相对导航技术与成熟的GPS/INS/DVS组合导航技术相结合组成新的双联邦UKF组合导航数据融合算法。联邦UKF算法将UKF算法和分散式滤波技术相结合,精度高容错性好,JTIDS相对导航技术精度高抗干扰能力强。主滤波器1对GPS/INS/DVS组合导航信息进行融合后与JTIDS相对导航信息在主滤波器2中融合,提高了组合导航系统的可靠性和容错性。数值仿真实验表明,该算法性能优于单纯采用联邦GPS/INS组合导航算法是一种理想的组合导航滤波方法。
In order to improve stability .and fault tolerance of integrated navigation data fusion, a new double federated UKF algorithm was designed. The new algorithm which used in the new integrated navigation data fusion method combines the JTIDS relative navigation with GPS/INS/DVS integrated navigation. The double federated UKF algorithm based on unscented Kalman filter algorithm and distributed information fusion technology is featured with high stability and fault tolerance. JTIDS relative navigation has high accuracy and its anti-jamming ability is strong. Master filter 1 was used to deal with the data of GPS/INS/DVS integrated navigation; master filter 2 was used to deal with the result of master filter 1 and the JTIDS relative navigation data. The reliability and the fault tolerance were improved by the double federated UKF filter. The simulation shows that this filter method has higher filter precision and better stability than the GPS/INS federated UKF; it is an ideal nonlinear filter method of integrated navigation.
出处
《弹箭与制导学报》
CSCD
北大核心
2009年第5期106-110,共5页
Journal of Projectiles,Rockets,Missiles and Guidance