CAJ | 학술논문

针对现有基于伪量测的异步融合算法存在实时性差、融合时刻计算负荷大以及人为引入噪声相关等问题,提出了一种新的基于采样点顺序离散化思想的顺序式异步融合算法.该算法首先将各个传感器的测量值在融合中心的坐标系中和时钟下进行映射统一;然后,选取融合周期内各采样时刻对连续状态系统进行顺序离散化,从而获得本周期内各采样点间的状态方程和相应的测量方程.最终,使用线性最小均方误差意义下最优的线性卡尔曼滤波器实现奉剧期内异步采样量测的顺序滤波融合.仿真分析表明,该算法和基于伪量测的异步融合算法相比具有较少的计算量、较好的实时性和较高的估计融合精度.
침대현유기우위량측적이보융합산법존재실시성차、융합시각계산부하대이급인위인입조성상관등문제,제출료일충신적기우채양점순서리산화사상적순서식이보융합산법.해산법수선장각개전감기적측량치재융합중심적좌표계중화시종하진행영사통일;연후,선취융합주기내각채양시각대련속상태계통진행순서리산화,종이획득본주기내각채양점간적상태방정화상응적측량방정.최종,사용선성최소균방오차의의하최우적선성잡이만려파기실현봉극기내이보채양량측적순서려파융합.방진분석표명,해산법화기우위량측적이보융합산법상비구유교소적계산량、교호적실시성화교고적고계융합정도.
Aiming at the problems which exist in the asynchronous fusion algorithms based on pseudo-measurements,such as poor real-time performance, excessive computation burden at the fusion time, and man-made noises correlation etc.,this paper proposes a novel sequential asynchronous fusion algorithm based on the idea of sequential discretization of the sampling points. Firstly, it maps and unifies all measurements in the reference frame and clock with fusion centre. Secondly,selecting every sampling time in the fusion period to discretize the continuous state system sequentially, we get the state equation and the relevant measurement equation between every sampling point in this period. Finally, using the best linear Kaiman filter in the sense of linear minimun mean square error, the sequential filtering fusion of asynchronous sampling measurements in this period can be realized. Simulation analysis shows that the proposed algorithm has lower computational load, better real-time performance and higher accuracy compared with the asynchronous fusion algorithms based on pseudomeasurements.