SINS/GPS/SST/高度表组合导航系统异步融合算法

Fusion-Algorithm of Asynchronous in the SINS/GPS/SST/Altimeter Integrated Navigation System

摘要:

针对不同类型导航传感器的采样率不同步,提出了一种基于状态方程多尺度变换的组合导航系统信息异步融合算法。首先,建立组合导航系统基于最高采样率下的状态方程；然后,将状态方程分解到不同的尺度上,进而建立基于不同尺度上的多个状态方程及其对应的量测方程；最后,建立基于不同尺度上的全局最优信息融合算法。仿真结果验证了该算法能有较好的实时性和融合精度。

Abstract:

According to the different sampling rate or different scale of different navigation sensor, in this paper, one infor.mation fusion algorithm for asynchronous multi-sensor integrated navigation system based on the multi-scale transforma.tion of state equation was puts forward. First, the state equation of integrated navigation system based on the highest sam.pling rate or the finest scale was builds up. Then, the state equation was decomposed into different scale to establish sever.al state equations based on different scale and the corresponding measurement equation. At last, the global and optimal in.formation fusion algorithm based different scale was finished. The simulation results showed that the algorithmhad only bet.ter real-time, but also better fused precision.