信息融合理论及其在INS/GPS/Doppler组合导航系统中的应用

Information Fusion Theory and its Application in INS/GPS/Doppler Integrated Navigation

本文总结了Ｃａｒｌｓｏｎ 提出的联邦滤波器理论，并通过证明比较了联邦滤波方法和集中式滤波方法的等价性，探讨了联邦滤波器的设计方法以及信息的合理分配原则，分析了两种简化的结构形式。构造了ＩＮＳ／ＧＰＳ／Ｄｏｐｐｌｅｒ 组合导航系统滤波结构，经过仿真证明了联邦滤波器的性能及其在组合导航系统中应用的可行性。

This paper summarizes the theory of federated Kalman filter presented by Carlson,compares the method equality between the federated filter and the center Kalman filter, and investigates the design method of the federated filter as well as the “information sharing” principle. It also researches two simplified structures of the federated filter. The simulation results verify the performance of the federated filter and its feasibility in INS/GPS/Doppler integrated navigation System.