无反馈多级式多传感器组合导航系统

Multi-level Multi-sensor Integrated Navigation System Without Feedback

传统的多传感器组合导航系统大都采用集中式、分布式与混合式信息融合方法,而多级式信息融合算法是上述3种算法的发展,可完成高层次空间融合。文章首先研究了基于无反馈信息的多传感器组合导航系统的多级式信息融合算法,然后理论分析证明该算法与无反馈形式的联邦卡尔曼滤波算法等价,最后以SINS/GPS/SST/高度表多组合导航系统为例,对上述算法及结论进行了仿真与验证。

The centralized, distributed and combined information fusion methods are usually used by the traditional multi-sensor integrated navigation system, but the multi-level information algorithm is the upgrade of the above methods, and can fulfill the fusion at the high-grade space. Thus, the multi-level information fusion method of the multi-sensor integrated navigation system without feedback information was studied, and then the theoretical analysis shows that this method is equivalent to the federated Kalman filter algorithm without feedback information. Finally, the SINS/GPS/SST/altimeter was used to simulate and verify the above methods.