INS/SMNS组合导航信息融合算法

Information fusion algorithm in INS/SMNS integrated navigation system

为了解决INS/SMNS(Inertial Navigation System/Scene Matching NavigationSystem)组合导航系统信息融合时涉及到的时间对准、多速率滤波、不等间隔以及量测滞后等问题,根据INS/SMNS组合导航主要应用于末制导段以及Kalman滤波与观测值的关系,提出了采用外推法进行时间对准、变周期离散化进行不等间隔多速率滤波、使用计算机软件消除量测滞后的解决方案.对比分析了常规Kalman滤波、消除量测滞后Kalman滤波以及方案的滤波精度.仿真结果表明设计的方案具有较高的滤波精度.

The problems, such as time alignment, multi-rate filter, unequal interval and measurement delay, were involved when information was fused in inertial navigation system/scene matching navigation system（INS/SMNS） integrated navigation system. In order to solve them, a solution, based on the fact that INS/ SMNS integrated navigation system was applied in terminal guidance generally and the relation between Kalman filter and measurement, was presented. Extrapolation was applied to the align time, the system was discretized in unequal interval and the multi-rate filter was designed, the measure delay was eliminated by software. Analyzing the filtering accuracy of the common Kalman filter, the Kalman filter without measurement delay and the presented solution, the results demonstrate that the method presented here has high accuracy.