联邦卡尔曼滤波在高速飞行器测距中的应用研究

Research on Federated Kalman Filtering in Ranging of High-speed Vehicle

针对高速无人飞行器运动的特点,设计了一种基于匀加速直线运动的联邦卡尔曼滤波器。仿真结果表明:算法具有计算量小、信息传输量少的优点,在确保整个组合系统可靠性的前提下,导航精度有了明显提高。该方法可有效地提高导航系统的精度和可靠性,在提高系统容错性能的同时,能够获得较好的估计精度,为组合导航系统的数据分析和处理提供了一种有效途径。

According to the flight feature of high-speed unmanned aerial vehicle（UAV）, a kind of federated Kalman filtering based on constant acceleration moving is presented. The numerical simulation results shows that the scheme has advantages of small calculation and little transmission. Under the condition of reliability of the whole navigation system , it can get a good estimation precision when improving the fault tolerant ability. So it provides an efficient way for data analysis of fusion navigation system.