多传感器组合导航系统分层融合算法

从信息融合角度来看，目前在组合导航系统中广泛应用的联合滤波算法居于两级式分布式融合结构。而分层融合结构作为多传感器信息融合的另一种重要的模式，在组合导航系统中应用尚未见报道。本文研究了多传感器组合导航系统的分层融合算法，重点与联合滤波算法进行了比较。以定理的形式证明了在一定条件下分层融合算法与联合滤波算法的等价性问题。进而提出了分层融合算法的部分反馈模式。仿真结果表明，部分反馈模式的有序分层融合算法可有效地应用于多传感器组合导航系统。在相同的容错能力和计算复杂性下，可以得到优于联合滤波的导航信息融合结果。

Hierarchical fusion algorithm for multisensor integrated navigation system

Considerable research has been undertaken in the field of estimation theory in relation to the integrated navigation problem,which is of interest in both military and civilian applications.So far,the technique to do this has been using the federated filtering,a two level distributed fusion architecture first developed by Carlson.However,the multi level fusion architecture,another important multisensor information fusion mode,has not been applied to the integrated navigation system as far as know.The objective of this work is to introduce the hierarchical fusion algorithm to the integrated navigation system.Special attention is given to survey the difference between the hierarchical fusion algorithm and the federated filtering algorithm.The condition that the hierarchical fusion algorithm equals to the federated filtering algorithm is given in the form of the theorem.Then the part feedback mode of the hierarchical fusion algorithm is presented.The simulation results show that consecutive hierarchical fusion algorithm based on the part feedback mode is effective for integrated navigation system.It,with equal fault tolerant ability and computational complexity,can get better results than those of the federated filtering algorithm.