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传统的多传感器组合导航系统大都采用集中式、分布式与混合式信息融合方法,而多级式信息融合算法是上述3种算法的发展,可完成高层次空间融合。文章首先研究了基于无反馈信息的多传感器组合导航系统的多级式信息融合算法,然后理论分析证明该算法与无反馈形式的联邦卡尔曼滤波算法等价,最后以SINS/GPS/SST/高度表多组合导航系统为例,对上述算法及结论进行了仿真与验证。
Most of the traditional multi-sensor integrated navigation systems use centralized, distributed and hybrid information fusion methods, and the multi-level information fusion algorithm is the development of the above three algorithms to complete high-level spatial fusion. Firstly, the multi-sensor information fusion algorithm based on feedback-free multisensor integrated navigation system is studied. Then the theoretical analysis proves that the proposed algorithm is equivalent to the federated Kalman filter without feedback. Finally, SINS / GPS / SST / Table multi-integrated navigation system, for example, the above algorithms and conclusions were simulated and verified.