摘要
介绍了舰船惯导系统的误差模型 ,针对该模型 ,提出了基于信息融合原理的联合卡尔曼滤波器的结构及算法。理论分析与仿真结果表明 ,该舰船INS/GPS/Loran C组合导航系统的设计合理 ,算法具有全局最优性 ,能够满足系统的精度要求 ,且应用该联合卡尔曼滤波器可提高系统的容错性能。
An error model of the warship INS is introduced. Aimed at the model, the structure and algorithm of the federated Kalman filter based on information fusion theory are given. With the theory analysis and simulation results, it comes to the conclusion that the design of the warship INS/GPS/Loran C integrated navigation system is successful, and the algorithm is excellent in the whole and can satisfy the requirement of precision. Also, the federated Kalman filter can improve the fault tolerance of the system.
出处
《华东船舶工业学院学报》
EI
2001年第6期48-53,共6页
Journal of East China Shipbuilding Institute(Natural Science Edition)
关键词
传感器
信息融合
舰船
组合导航系统
联合卡尔曼滤波
information fusion
warship integrated navigation system
federated Kalman filter
