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针对基于扩展卡尔曼滤波的融合估计算法存在线性化误差,且分布式融合计算复杂等问题,基于无色变换、交互多模型和信息滤波,采用递阶分布式融合估计结构,提出一种分布式无色信息滤波算法.该方法中的无色变换能够保证更高的估计精度,交互多模型使其具有更好的鲁棒性,信息形式的卡尔曼滤波使融合估计计算变得简单.仿真结果表明,该算法能够提高多无人机融合估计性能.
Aiming at the problems that the fusion estimation algorithm based on extended Kalman filter has linearization error and the computational complexity of distributed fusion, based on colorless transform, interactive multi-model and information filtering, a hierarchical distributed fusion estimation structure is proposed and a distributed Colorless information filtering algorithm.The colorless transform in this method can guarantee higher estimation accuracy and the interactive multi-model makes it have better robustness.The information form of Kalman filtering makes the fusion estimation calculation simpler.The simulation results It shows that this algorithm can improve the performance of multi-UAV fusion estimation.