摘要
总结了适用于车载 GPS/ DR组合导航系统的几种信息融合方法 ,提出一种可容错的新型联合卡尔曼滤波结构方案。针对系统重构和自适应调整的依据 ,提出一种新的分系统状态评估方法 ,定义了滤波器估计结果可信度的概念并给出对其进行模糊综合评判的方法。在此基础上进一步确定联合滤波模型的自适应信息分配准则 ,实时跑车数据处理结果表明 。
After several information fusion methods suitable for GPS/DR integrated vehicle navigation system are summarized,a new scheme of fault tolerant federated Kalman filter is proposed.In the need of system reconstruction and adaptive adjustment,a new method to evaluate the states of subsystems is presented.The definition of reliability degree of the estimation results of filters and its fuzzy logic comprehensive judgement method are given.Based on the reliability degree,a fusion information distribution principle of federated filter among local filters is further established.The processing result of the real time experiment data demonstrates that the precision and reliability of the system can be greatly improved by using this scheme.
出处
《遥测遥控》
2002年第1期7-12,52,共7页
Journal of Telemetry,Tracking and Command
