基于自适应EWMA的综导信息融合方法

An Integrated Navigation Information Fusion Method Based on Adaptive EWMA

针对美军导航传感器系统接口的导航信息源融合算法存在参数设置依赖经验且未对航向进行融合的问题,提出了一种基于自适应指数加权移动平均的导航信息源融合算法。该算法利用分段的估计误差函数对NSI算法的参数进行自适应调整,从而避免了初始参数设置不当对融合精度的影响,进一步提高位置融合精度。此外将该算法应用于航向,实现了航向的融合。在仿真实验和实测数据试验下,将该方法与普通基于EWMA的NSI方法进行了对比。结果表明,提出的基于自适应EWMA的NSI方法具有自适应参数调节功能,避免了复杂的调参过程,并有效地融合多种传感器的信息,抑制捷联惯导系统的误差发散。

Aiming at the problem that the navigation information source fusion algorithm of the U.S. military navigation sensor system interface relies on experience in parameter setting and does not fuse the course,a navigation information source fusion algorithm based on adaptive exponential weighted moving average(EWMA)is proposed. The algorithm uses the segmented estimation error function to adaptively adjust the parameters of the NSI algorithm,thereby avoiding the impact of improper initial parameter settings on the fusion accuracy,and further improving the position fusion accuracy. In addition,the algorithm is applied to the heading to realize the heading fusion. Under the simulation test and actual data test,the method in this paper is compared with the common NSI method based on EWMA. The results show that the NSI method based on adaptive EWMA proposed in this paper has the function of adaptive parameter adjustment,avoiding the complicated parameter adjustment process,and effectively fusing the information of multiple sensors to suppress the Strapdown Inertia Navigation System(SINS)error divergence.