一种支持传感器即插即用的模块化信息融合方法

Method of modular information fusion supporting plug-and-play sensors

单一导航传感器无法提供实时、可靠的导航信息,通常利用多源信息融合手段提升导航精度、实时性和连续性。针对多传感器融合引入的导航系统开发难度大、复杂度高的问题,文中设计一种充分利用导航传感器间互补特性的全源导航系统,提出一种模块化信息融合方法,通过独立设计系统状态模块、量测模块、滤波器模块,有效地降低系统的开发周期,提高系统的灵活性,使系统组件具备即插即用的能力。最后,通过卫导接收机的杆臂估计实验,验证状态模块的可插拔性;通过组合导航系统的无缝切换实验,验证传感器、滤波器的即插即用能力。仿真实验结果表明,所提出的模块化信息融合方法不仅支持传感器的即插即用,还可以降低导航系统开发难度,提高开发效率。

As single navigation sensor cannot provide reliable navigation information in real time,multi-source information fusion methods are often used to ensure the accuracy,instantaneity and continuity of navigation.In allusion to the problem that the navigation system introduced by the multi-sensor fusion is more difficult and complex to development,an all source navigation system which makes full use of the complementary characteristics of navigation sensors is designed and a modular information fusion method is proposed.The system state module,measurement module and filter module are designed independently to reduce the development cycle of the system and improve the flexibility of the system,so as to make the system components have the plug and play ability.The pluggability of the state module is verified by means of the lever arm estimation of the satellite receiver.The plug-and-play capability of the sensor and filter is verified by means of the seamless switching of the integrated navigation system.The simulation experiments show that the proposed modular information fusion method not only supports the plug-and-play sensors,but also improves the development difficulty and efficiency of the navigation system.