火力与指挥控制2011，Vol.36Issue(3)：78-81,4.
多传感器信息融合的水下航行器组合导航方法
Information Fusion Technology and its Application to Multi-sensor Integrated Navigation System for Autonomous Underwater Vehicle
摘要
Abstract
In order to enhance ability and accuracy of the autonomous underwater vehicle navigation system, in this paper, we propose a multi-sensor integrated navigation scheme based on information fusion theory. Based on the error equations of SINS, DVL, LBL and other sensor, the information fusion model for the system is build up. Meanwhile, the paper presents the structure and the algorithm of the federated filter and proposes the solution of various sensors frequency. Computer simulation was done and its result show that the model can effectively improve navigation system's precision to ability to fault detection and fully distill information from navigation sensors.关键词
AUV/多传感器组合导航/联邦滤波器/信息融合Key words
AUV/ multi-sensor integrated navigation/ federated filter/ information fusion分类
交通工程引用本文复制引用
范欣,张福斌,张永清,汪刚..多传感器信息融合的水下航行器组合导航方法[J].火力与指挥控制,2011,36(3):78-81,4.基金项目
国防科技预研基金项目资助(08J4.2.2) （08J4.2.2）
