水面多传感器组合导航系统技术研究

Research on the multisensor integrated navigation system

研究了ＩＮＳ、ＧＰＳ、Ｄｏｐｐｌｅｒ计程仪组成的水面多传感器组合导航技术，给出了设计方案；介绍了一种修正的自适应卡尔曼滤波算法，并应用于组合导航系统。仿真结果表明，该算法可以有效的抑制滤波发散，提高了组合导航系统的精度。

In addition to describing a marine multisensor integrated navigation system, the paper also establishes a mathematical model for the integrated navigation system To gain good performance and divergence , an adaptive Kalman filtering technique applied to the system is proposed. The simulation shows that this technique can effectively restrain the filtering divergence and improves accuracy of the integrated navigation system.