| 摘要: |
| 基于足绑式INS的单兵导航系统,通过将惯性导航系统、人体运动学约束、磁强计等多传感器信息进行融合得到准确的单兵导航信息。对于匀速步行时的单兵导航,可采用普通 Kalman滤波算法进行多传感器信息融合,但不能满足跑步等激烈运动模式下单兵导航需求。提出衰减记忆新息自适应 Kalman滤波算法,可满足多步态模式下的单兵导航多源信息融合的需求,实验结果验证了算法的有效性。 |
| 关键词: 单兵导航 多传感器信息融合 Kalman滤波 自适应滤波 |
| DOI： |
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| 基金项目:“十三五”装备预研项目 |
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| Adaptive Filtering Algorithm of Multi-Sensor Information Fusion for Individual Navigation |
| ZHANG Xin-xi,GUO Mei-feng,WANG Cheng-bin,CHENG Gao-feng,NIU Shu-lai |
| (Department of Weaponry and Control,Academy of Army Armored Force,Beijing 100072,China;Department of Precision Instrument,Tsinghua University,Beijing 100084,China) |
| Abstract: |
| Individual Navigation based on foot-mounted inertial navigation system(INS) can get accurate individual navigation information through the INS,human kinematics constraints,magnetometer and other multi-sensor information. For the walking at a constant speed in individual navigation,Kalman filter algorithm can be used for multi-sensor information fusion,however,the requirement can not be met in running or other intense movement modes. In this paper,an adaptive Kalman filter algorithm is proposed,which can meet the requirement of multi-source information fusion in multi-step mode. The experimental results verify the effectiveness of the algorithm. |
| Key words: Individual Navigation Multi-sensor information fusion Kalman filter Adaptive filtering |
