| 基于多尺度分布式融合估计的GPS/INS组合导航系统的研究 |
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| 引用本文： | 魏敏,魏武.基于多尺度分布式融合估计的GPS/INS组合导航系统的研究[J].航天控制,2009,27(6). |
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| 作者姓名： | 魏敏 魏武 |
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| 作者单位： | 华南理工大学自动化科学与工程学院,广州,510641 |
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| 基金项目： | 国家自然科学基金重点项目 |
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| 摘 要： | 针对如何融合多传感器的数据、提高数据处理的可靠性和精度的问题,将基于模型的动态系统分析方法与基于统计特性的多测度信号变换方法相结合,提出基于Kalman滤波的多尺度分解与估计联合的多尺度分布式融合估计算法.该算法首先建立系统的动态方程和观测方程,再利用小波变换将数据在不同尺度上进行融合处理,归纳出该算法的实现步骤.最后通过组合导航系统的仿真验证算法的有效性,结果进一步证明了该算法能够有效地提高多传感器数据的处理精度.
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| 关 键 词： | 多传感器 Kalman滤波 多尺度分布式融合估计 |
Multi-scale Distributed Fusion Estimation Algorithm and its Application in GPS/INS Navigation System |
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| WEI Min,WEI Wu.Multi-scale Distributed Fusion Estimation Algorithm and its Application in GPS/INS Navigation System[J].Aerospace Control,2009,27(6). |
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| Authors: | WEI Min WEI Wu |
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| Institution: | WEI Min WEI WuSchool of Automation Science and Engineering,South China University of Technology,Guangzhou 510641,China |
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| Abstract: | In order to improve the reliability and precision of data fusion processing of multi-sensor, data multi-scale distributed fusion estimation algorithm is put forward for estimating the data of multi-sensor based on Kalman filter. The algorithm firstly establishes the system dynamic equation and observation equation , then the data is processed on different scales by wavelet transform, and realization steps of the algorithm are induced and concluded. Finally, by the simulation in the GPS/INS, the result testifies that the algorithm can improve the precision of data processing in multi-sensor. |
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| Keywords: | GPS/INS GPS/INS Kalman filter Multi-sensor Multi-scale distributed fusion estimation |
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