信息融合技术在INS/GPS/DVL组合导航中的应用研究

为克服某船载导航系统不能满足长时间高精度导航定位需要的缺点,提出了一种基于信息融合技术的INS/GPS/DVL联邦滤波器组合导航方案.介绍了INS/GPS/DVL联邦滤波器的工作模式,在建立INS、GPS和DVL误差模型的基础上,推导了滤波器的组合形式,并详细阐述了该联邦滤波器的融合算法.通过计算机仿真技术分析了该组合导航系统的性能,仿真证明了所设计的联邦滤波器可以充分利用各种导航传感器的信息,提高导航系统的精度,比单独的惯性导航系统能提供更为精确的位置、速度和姿态信息,有效地提高了导航系统的综合能力.

Information fusion technology and its application in INS/GPS/DVL integrated navigation

The warship navigation system applied in our project need to be of high precision. According to this requirement, the paper presented an INS/GPS/DVL federated Kalman filter scheme based on information fusion theory of multi-sensors integrated navigation system. Based on the error equations of INS, GPS, and DVL, the structure and algorithm of the federated Kalman filter were given. Several computer simulations were carried out to study the filter's performance. Simulation results show that the INS/GPS/DVL federated Kalman filter can improve the navigation precision. Compared with INS alone, this integrated navigation system gives more accurate position, velocity, and attitude information.