组合导航信息融合技术研究

Research on Information Fusion Technology of Integrated Navigation

分析了联合卡尔曼滤波算法中参考系统、主滤波器以及局部滤波器的特点,给出了组合导航系统的联合滤波算法的具体描述,提出了一种基于广义特征值分解的自适应信息分配策略,该分配策略可以保证联合滤波器整体的性能能够随时接近其中性能最优的局部系统.结果表明,采用组合导航信息融合技术在工程实践上确实可以解决根据组合导航局部滤波器性能随时调整信息分配策略的问题.

The features of reference system, master filter and partial filter of integrated Kalman filtering algorithm are analyzed. The concrete description of the algorithm is presented. Based on generalized eigenvalue, a kind of adaptive information distribution strategy is proposed. This distribution strategy can ensure that the performances of integrated filters can approximate the local system with optimal performances at any time. Results show that by using information fusion technology in integrated navigation, the information distribution strategy can be adjusted at any time according to partial filter performances of in-tegrated navigation.