基于低成本传感器配置的信息融合方法研究

Information Fusion Method Based on Low-cost Sensor Configuration

文章重点研究了低成本传感器配置及信息融合的方法,针对实际工程应用,设计了低成本传感器配置方案及信息融合的方法,通过建立系统的状态空间模型,应用卡尔曼滤波,并采用4元数表示法进行扩展卡尔曼滤波的姿态融,借助于算法研究了实时扩展卡尔曼滤波技术的设计与实现,最后采用实例模型的数据对方案进行仿真验证,并对验证结果进行分析。

This paper focuses on low-cost sensor configuration and information fusion method .For practical engineering application, this paper designs a low-cost sensor configuration scheme and information fusion method .Through the establish-ment of the system state space model for Kalman filter , this paper uses quaternion notation to extend Kalman filter and im-plements real-time extended Kalman filter technology .Finally, this paper applies example of model to the simulation and verification of the configuration scheme , and analyzes the verified results .