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电子学报  2014 

船舶动力定位多传感器闭环分级融合算法

DOI: 10.3969/j.iss.0372-2012-2014.03.014, PP. 512-516

Keywords: 多传感器融合,状态估计,分级融合,卡尔曼滤波

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Abstract:

为了改善船舶动力定位多传感器的融合性能,提出了一种多传感器闭环分级融合算法.该算法包括基于卡尔曼滤波的局部和全局两级估计,以全局融合信息的反馈作为局部估计的初始值进行时间更新,定义两级估计的映射关系并引入调节系数,自适应地调节全局融合增益.全局估计融入各局部估计过程中,两级估计组成了一个相互补偿的闭环系统.利用船舶半实物仿真系统的试验,仿真验证了该算法的有效性.

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