海洋测绘2017，Vol.37Issue(5)：34-38,5.DOI:10.3969/j.issn.1671-3044.2017.05.007
多传感器组合导航系统研究
Multi-sensor Integrated Navigation System
摘要
Abstract
In order to meet the needs of high-precision navigation and positioning for the Autonomous Underwater Vehicle (AUV),the multi-Sensor integrated navigation system model is established.The mixed federal filter is proposed based on the traditional federal filter to aim at the non-linear course in the information fusion process.The Kalman filter is applied in the linear subsystem and particle filter is applied in the non-linear subsystem.The computer simulation results show that the linear and nonlinear filtering subsystem can be well fused together by the mixed federal filtering algorithm,and the navigation positioning accuracy is greatly improved.关键词
水下航行器/多传感器/组合导航/粒子滤波/混合联邦滤波Key words
AUV/multi-Sensor/integrated navigation/particle filter/mixed federal filter分类
天文与地球科学引用本文复制引用
迟凤阳,高伟..多传感器组合导航系统研究[J].海洋测绘,2017,37(5):34-38,5.基金项目
国家自然科学基金(51379042). （51379042）
