一种异步多传感器组合导航系统融合算法

One Fusion-Algorithm of Asynchronous Multi-Sensor Integrated Navigation System

针对不同导航传感器存在的采样率不同步(或尺度不同),提出了一种基于状态方程多尺度变换的异步多传感器组合导航系统信息融合算法。仿真结果表明,本算法不仅具有较好的实时性,而且具有较好的融合精度。

According to the different sampling rate or different scale of different navigation sensor,this paper puts forward one information fusion algorithm for asynchronous multi-sensor integrated navigation system based on the multi-scale transformation of state equ-ation.This paper first builds up the state equation of integrated navigation system based on the highest sampling rate or the finest scale,then this state equation is decomposed into different scale to establish several state equations based on different scale and the corresponding measurement equation,at last the global and optimal information fusion algorithm based different scale is finished.The simulation results show that this algorithm has not only better real-time,but also better fused precision.