基于模型库的船舰组合导航信息融合算法

A Navigational Information Fusion Algorithm Based on Model Library

在船舰组合导航系统中,由于各导航传感器自身物理特性、工作原理的差异,无法同步获得船舰目标的观测信息,因此船舰组合导航问题实质上是一类典型的异步融合估计问题。然而,现有的异步融合估计算法无法兼顾滤波精度的最优性以及滤波过程的实时性。为此,针对舰船稳态运行过程中的线性平稳过程,提出利用模型库设计一种船舰组合导航信息融合的新算法。仿真实验验证了所提方法的有效性,能同时满足实时性和最优性的要求,并且简捷,易于实现。

In ship integrated navigation systems, the information comes in at different moments due to the fact that the systems are composed of navigational devices with different physical properties and working principles. So, the integrating navigation information is typically an asynchronous fusion problem. The existing asynchronous fusion al- gorithms can give an optimal solution but not in real-time. A novel navigation information fusion algorithm based on model library method is proposed to have the optimal solutions in real time. The algorithm is effective for the linear stationary process which represents the steady motion of ships. The proposed algorithm is easy to implement and has been verified by simulations.