基于联邦滤波的GPS/DR 组合导航信息融合

针对车载GPS/DR 组合导航系统的特点，采用联邦滤波算法，构建了两级结构的联邦卡尔曼滤波器。子滤波器分别处理GPS 和DR 传感器信息，主滤波器进行信息融合，并对子滤波器进行信息分配和重置，克服了GPS 单独使用时因信号中断而引起的系统失效，使系统具有更好的容错能力，进一步提高了系统的定位精度。试验结果证明了算法的有效性。
关键词：组合导航；联邦滤波；信息融合；定位精度
Abstract: The federal filter, structured with 2 levels, is used to realize the information fusion of vehicle GPS/DR navigation system. Two local filters process GPS and DR data respectively, and main filter is responsible for data fusion and data reset to local filters according to the information distribution rule. The system positioning precision is much higher than that of GPS used only, and the system unavailability caused by GPS signal interrupting is avoided. The experiment results turn out that the algorithm is effective.
Keywords: integrated navigation; federal filtering; information fusion; positioning precision