CAJ | 학술논문

针对航位推算/惯性导航/GPS(DR/INS/GPS)组合导航系统的多信息源融合,提出了基于局部反馈校正的联邦滤波和串级滤波两种算法,并进行对比研究.跑车实验结果证明,两种分散滤波算法在正常导航(无传感器故障)情况下都能有效提升车载导航系统的精度和可靠性,且前者定位精度较后者高;但后者能够消除DR误差前期积累,避免GPS失效时的定位输出"突跳"和"毛刺",具有更好的应用价值.
침대항위추산/관성도항/GPS(DR/INS/GPS)조합도항계통적다신식원융합,제출료기우국부반궤교정적련방려파화천급려파량충산법,병진행대비연구.포차실험결과증명,량충분산려파산법재정상도항(무전감기고장)정황하도능유효제승차재도항계통적정도화가고성,차전자정위정도교후자고;단후자능구소제DR오차전기적루,피면GPS실효시적정위수출"돌도"화"모자",구유경호적응용개치.
Comparative study local feedback federal filtering and cascaded filtering algorithm, for DR/INS/GPS integrated navigation for vehicle system of multi-sources information fusion. The vehicle-experimental result proved that, both algorithm can improve the precision and reliability under normal condition (without sensor failure);furthermore, the algorithm based on local feedback federal filtering has higher position precision;however, the cascaded filtering can eliminate previous DR error accumulation, avoid burst jump and burrs in navigation output while GPS outages, which is more valuable for practical application.