基于联邦卡尔曼滤波的某舰船组合导航系统的设计

Design of integrated navigation system for a ship based on federated Kalman filtering

为了得到更高精度的导航信息,在某船现有的固定指北惯性导航系统的基础上,将惯导与GPS结合,设计了一种基于联邦卡尔曼滤波的舰船用组合导航系统,研究了该组合导航系统的数据处理方法,并对该组合方式进行仿真,验证了可行性.

Combine the use of the Inertial Navigation System（INS） and the Global Position System（GPS）,an integrated navigation system is designed based on federated Kalman filtering in order to obtain more accurate navigation information,and the data processing method of the INS/GPS is studied.The system simulation shows that the system solution is effective.