聯(lián)合卡爾曼濾波在多傳感器信息融合中的應(yīng)用

介紹了基于多傳感器信息融合技術(shù)的聯(lián)合卡爾曼濾波器的一般設(shè)計方法,并將此方法運用于艦船INS/ GPS/ Loran2C 組合導(dǎo)航系統(tǒng)中。理論分析與仿真結(jié)果表明,該聯(lián)合卡爾曼濾波器的設(shè)計合理,算法具有全局最優(yōu)性,能夠提高系統(tǒng)的導(dǎo)航精度和容錯能力。
關(guān)鍵詞:多傳感器; 數(shù)據(jù)融合;聯(lián)合卡爾曼濾波;艦船組合導(dǎo)航系統(tǒng)
Abstract :A general design method of federated Kalman filter based on multisensor information fu2 sion is int roduced in this paper and applied in the warship INS/ GPS/ Loran2C integrated naviga2 tion system. With the theory analysis and simulation result s , it comes to the conclusion that the design of the federated Kalman filter is successful , and the algorithm is excellent on the whole. Also , it can improve the navigation precision and fault - tolerance of the system.
Key words :multisensor ;information fusion ;federated Kalman filter ;warship integrated navigation system