量测信息引导的组合导航融合滤波方法

上海交通大学学报（自然版） ›› 2015, Vol. 49 ›› Issue (09): 1394-1399.

量测信息引导的组合导航融合滤波方法

王丽娜1,2，黄斌3，高晓颖2，康国华3，孙永荣3

(1. 北京航空航天大学计算机学院数字媒体北京市重点实验室，北京 100191；2. 宇航智能控制技术国家级重点实验室，北京航天自动控制研究所，北京 100854；
3. 南京航空航天大学自动化学院导航研究中心，南京 210016)

收稿日期:2014-09-25
基金资助:
国家自然科学基金资助项目（91016019）

Fusion Filtering Method Guided by Measurement Information in Integrated Navigation System

WANG Lina1,2,HUANG Bin3,GAO Xiaoying2,KANG Guohua3,SUN Yongrong3

(1. Beijing Key Laboratory of Digital Media, School of Computer Science and Engineering,Beihang University, Beijing 100191, China; 2. National Laboratory of Aerospace Intelligent Control Technology, Beijing Aerospace Automatic Control Institute, Beijing 100854, China;3. Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 2100161, China)

Received:2014-09-25

摘要/Abstract

摘要：

摘要：针对组合导航系统中各子系统量测输出速率不同的情况，提出了一种量测信息引导的组合导航融合滤波方法.该方法采用信息量与信息当量来描述当前时刻的所有可用信息，并基于加法原理，利用状态预测和当前可用的量测值来更新状态估计，实现最优融合估计.仿真结果表明，该方法能够应用于多量测信息非等间隔输出的情况，即使某子系统失效时也能正常工作，且能够取得较好的融合滤波效果，相较于联邦滤波和集中滤波具有更好的实时性能.

关键词: , 组合导航, 融合滤波, 非等间隔, 信息融合

Abstract:

Abstract： Aimed at the different output rates of each sub-aided navigation system in the integrated navigation system, a fusion filtering method guided by measurement information was proposed using information quality and information equivalent to register all the currently available information. Based on the additional principle, system state estimation was updated depending on the state prediction and currently available measurements, which is theoretically optimal. The simulation results show that the proposed method can handle the unequal output rates of multiple measurements, and work well when any subsystem goes wrong at any time. Compared with the federated filtering method and concentrated filtering method, the proposed method has a better realtime performance.

Key words: integrated navigation, fusion filtering, unequal interval, information fusion

中图分类号:

V 24

王丽娜1,2，黄斌3，高晓颖2，康国华3，孙永荣3. 量测信息引导的组合导航融合滤波方法[J]. 上海交通大学学报（自然版）, 2015, 49(09): 1394-1399.

WANG Lina1,2,HUANG Bin3,GAO Xiaoying2,KANG Guohua3,SUN Yongrong3. Fusion Filtering Method Guided by Measurement Information in Integrated Navigation System[J]. Journal of Shanghai Jiaotong University, 2015, 49(09): 1394-1399.

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