Guidance, Navigation and Control
Tan Juhao, Yang Aoshaung, Li Tianyu, Ma Xunqiong, Chen Shuai
Aerospace Control.
2022, 40(5):
22-29.
Aiming at the problems of single navigation source navigation information, easy interference and low reliability, a multi-source fusion positioning and navigation algorithm is designed in this paper, and a fusion navigation model of SINS/BDS/odometer/barometric altimeter/electronic compass is established. And in the process of multi-source navigation information fusion, the dynamic model may be easily perturbed and the measurement information is asynchronous and heterogeneous, a robust adaptive filter is designed to control the abnormal prediction information of the dynamic model and the abnormal measurement information.In addition, the judgement and processing methods of filter divergence in the process of information fusion are further studied, and the means of filtering correction are described. Finally, based on different information fusion models and filtering methods, a hardware-in-the-loop simulation experiment is implemented, and the filtering results are analyzed and summarized.The experimental results show that the multi-source fusion navigation algorithm designed in this paper can be integrated with the advantages of multi-sensors and can serve by providing high-precision and high-reliability positioning and navigation.