全源定位与导航的统一理论框架构建

针对多导航传感器的信息融合复杂性的问题，提出了一种基于全源定位与导航的信息融合统一理论框架。该框架将目前导航领域的主要定位导航技术分成了与时间无关的定位导航技术方法以及与时间相关的定位导航技术。首先，主要从数学的角度将各种导航技术的测量模型抽象为统一的表达形式，提出了位置、姿态、速度函数的概念，讨论了各种测量方法的测量函数及其应用；其次，分析了航位、航姿、航速的推算方法；最后根据测量模型和运动模型构建了信息融合的基本方程，并讨论了基于贝叶斯估计的导航参数一般性估计方法。

Unified Theoretical Framework Construction of All Source Positioning and Navigation

Aiming at the information fusion complexity of multi-navigation sensors, a unified information fusion framework based on All Source Positioning and Navigation is proposed. The framework divides the main navigation technologies of the navigation field into time-independent and time-related positioning and navigation technologies. Firstly, the measurement models of various navigation technologies are abstracted into a unified form of expression mainly from the mathematical point of view, and the concepts of position, attitude and velocity functions are respectively proposed. The measurement functions and their applications are discussed. Secondly, the method of dead reckoning is analyzed. Finally, based on the measurement model and the motion model, the basic equations of information fusion are constructed, and a general estimation method of navigation parameters based on Bayesian estimation is discussed.