信息融合技术在水下组合导航系统中的应用

摘要

要实现水下精确导航，采用单一导航方法，其精度、可靠性无法满足需要。将多种导航技术适当融合，可以取长补短提高导航精度。以捷联惯性导航系统作为组合导航系统的主导航设备， GPS导航、多普勒导航等为辅助导航设备，利用联邦Ka lman滤波技术对水下组合导航系统进行信息融合，充分融合多导航传感器信息，提高远程自主水下航行器的导航精度。%It is difficult to realize precise underwater navigation by using single navigation method .The integration of a variety of navigation technologies can improve the preciseness of navigation .This paper presents a combination of navigation aids which takes SINS as the main navigation equipment , GPS and DVL as assistant navigation . Fusing the information from multiple sensors by Federal Kalman filter technology can provide precise navigation for underwater vehicle.