基于可变步长级联更新的多信息融合导航算法

Multi-sensor Fusion Navigation Algorithm based on Cascade Update with Variable Step Size

对以当前广泛采用的一体化嵌入式惯性/卫星组合导航系统而言,在与姿态敏感器结合以进一步提升系统测姿精度时,通常需要从硬件上重新设计嵌入式组合系统内部的时序控制和校正回路,这给实际工程应用带来了困难。提出了针对嵌入式组合导航系统的可变步长级联更新融合方案,通过分析其输出特性设计级联扩展的星敏感器姿态辅助模块之协同工作,研究了解决姿态辅助滤波器的初始化、异步量测和噪声模型不确定等问题的变步长级联更新滤波算法。半物理验证结果表明,所提出方法能够在无需改动其内部滤波结构和反馈修正环路的前提下,有效提高了姿态精度,具有良好的工程应用价值。

Traditional multi- sensor integration scheme is not convenient for attitude performance enhancement of embedded integrated navigation system,because the time sequence and correction loop of INS need to be redesigned. A novel multi-sensor fusion navigation algorithm based on cascade update with variable step size for attitude improvement of embedded INS/GNSS system is proposed. Attitude assist module cascaded with embedded INS/GNSS system is designed,compensating the attitude residual further. The filtering al- gorithm is researched on considering attitude assist filter initialization, nonsynchronous measurements and unknown noise statistics. The proposed approach can improve the accuracy of absolute attitude and attitude increment effectively, without changing the working process of embedded INS/GNSS system. Experiments are carried out to validate the performance of proposed approach.