SINS/CNS/SAR组合导航系统中的信息融合算法研究

摘要

在SINS/CNS/SAR组合导航系统中,存在量测信息时间不同步及系统容错性差的问题,为了获得高精度滤波结果,设计了一种新的信息融合算法.首先对各子系统量测信息进行野值检测,并对处理后的量测信息进行时间同步处理；然后利用SINS/CNS和SINS/SAR子滤波器分别进行局部滤波得到局部估计值,经系统容错检测后,由主滤波器对局部估计值进行自适应融合,实现全局滤波.仿真结果表明,量测信息时间同步处理可以优化系统定位精度；当系统出现量测异常时,所提出的融合算法可以有效检测故障并进行处理,状态估计值始终维持在稳态附近.新的融合算法能改善导航系统的客错性能,提高导航精度,设计方案具有重要的理论参考价值.%In the SINS/CNS/SAR integrated navigation system,there exists the issues of the asynchronous measurement information and the poor system fault-tolerance,so a new information fusion approach is put forward to get the high precision filtering results.Firstly,the wild measurement of each subsystem is detected,and the data synchronized is obtained.Then,the available information is put in the SINS/CNS and SINS/SAR subfilter system to obtain the local estimates.After the fault-tolerant detection,the adaptive fusion is carried out by the main filter to realize the global filter.The simulation results show that the time synchronization of the measurement information can optimize the precision of the system position.Besides,the proposed algorithm can detect and isolate the fault where there is abnormal measurement,so that locating results can always maintain in steady-state nearby.The new fusion algorithm can improve the fault-tolerance performance and the navigation accuracy of the integrated system,the scheme has important theoretical reference value.