INS／GPS／TERCOM组合制导系统中的信息融合方法研究

提出由坐标变换、误匹配检测和卡尔曼滤波三个单元构成的一种新型INS／GPS／TERCOM系统优化结构，并对INS／GPS／TERCOM组合系统自适应联邦滤波信息融合和分散式信息融合两种算法分别进行了研究，将这两种算法与传统的集中滤波算法进行了比较。结果表明，系统无故障情况下三种方法精度相同；而在有故障情况下自适应联邦融合法优于另两种方法。

RESEARCH ON INFORMATION FUSION METHOD IN INS/GPS/TERCOM SYSTEM

Based on the coordinate transformation,mismatch detection and Kalman filter module,a novel INS/TERCOM integrated navigation system optimization structure is presented.And the adaptive federated filter and the decentralized information fusion algorithms of INS/GPS/TERCOM integrated navigation system have been studied.Compared with the centralized Kalman filter algorithm,It has been shown that when the system is faultless,the above three methods have the same accuracy,but if the system is at fault,the adaptive federated Kalman filter algorithm has the highest accuracy than others.