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联合卡尔曼滤波在多传感器信息融合中的应用
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2009-06-25
h1654155275.3132
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介绍了基于多传感器信息融合技术的联合卡尔曼滤波器的一般设计方法,并将此方法运用于舰船INS/ GPS/ Loran2C 组合导航系统中。理论分析与仿真结果表明,该联合卡尔曼滤波器的设计合理,算法具有全局最优性,能够提高系统的导航精度和容错能力。
关键词:多传感器; 数据融合;联合卡尔曼滤波;舰船组合导航系统
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
关键词:多传感器; 数据融合;联合卡尔曼滤波;舰船组合导航系统
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
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