基于联邦卡尔曼滤波的测量船导航信息处理方法

为了提高航天测量船导航系统提供的位置、姿态及速度的精度，以满足飞行器测控的特殊要求，从信息融合的角度进行分析，针对多传感器信息融合技术在工程中的应用作进一步探讨，提出了基于信息融合技术的组合导航方案，构造了INS／CNS／GPS／DVL组合导航系统滤波体系结构，构建了误差模型，阐述了融合算法。仿真及实测数据证明，设计的联邦滤波器可以充分利用各种冗余信息，提高导航的数据精度。

An Information Processing Method for the Navigation System of a Space Instrumentation Ship Based on Federated Kalman Filtering

Abstract To improve the accuracy of position, attitude and velocity of the navigation system of instrumentation ship and meet the special requirements of spacecraft, from the angles of information fusion and engineering application of multiple sensors, this paper presents a scheme of integrated navigation, designs an INS/CNS/GPS/DVL filtering architecture, error model and fusion algorithm. The simulation and actual test results show that this system can take full advantage of redundant information to improve its accuracy effectively.