GPS/SINS组合导航系统的多尺度融合算法研究

摘要

将传统的基于模型的动态系统分析法与基于统计特性的信号多尺度变换分析法相结合,提出一种多尺度融合算法,并用于GPS/SINS组合导航系统.该算法首先建立系统的原始尺度动态方程与观测方程；然后利用小波变换将该动态方程与观测方程在不同的尺度上进行数据融合；最后利用不同尺度上的融合结果进行全局最优融合,并利用该结果对SINS进行系统反馈校正.基于实测数据的静态实验结果与理论动态仿真实验证明,该方法可对系统进行有效的最优融合,相对于几种常见的滤波方法具有更好的组合导航系统精度.%A multi-scale fusion algorithm is proposed and applied in GPS/SINS integrated navigation system by combining the traditional analysis method of dynamic system based on model with the analysis method of signal multi-scale transformation based on statistical characteristics. This algorithm first establishes the dynamic equation and observation equation of system in original scale. The dynamic observation equations are then fused on different scales by wavelet transformation. At last the fused results on different scales are fused globally and optimally and are feedback to correct SINS. The experimental results based on practically measured data and theoretical dynamic simulation show that this method can fuse this system efficiently and optimally, and this method can have better precision than the several common filtering methods.