多传感器导航系统的分散滤波设计

Design of Decentralized Filters for Multisensor Navigation System

本文研究了容错组合导航系统的设计问题;针对惯导、大气测量仪表与多种电子导航设备构成不同子系统情况,提出各子系统间测量相关时的分散滤波设计方法;给出了各子系统状态估计的最优线性合成方法。为组合导航系统的设计提供了理论依据。

The design of fault-tolerant navigation systems with the dif- ferent subsystems consisting of Inertial Navigation Systems, altimeters and several avionic navigation devices is considered in this paper. Since the altimeter provides the altitute information to every subsystem, the measurement of the subsystems are correlated. The method of designing decentralized filters under correlated measure- ment is presented. The optimal method of linear fusion of the state estimations yielded by subsystems is proposed. These results are very useful in design of inte- grated navigation systems.