Information Fusion Technology and its Application to Multi-sensor Integrated Navigation System for Autonomous Underwater Vehicle
Gang Wang · Fire Control and Command Control · 2011
In order to enhance ability and accuracy of the autonomous underwater vehicle navigation system,in this paper,we propose a multi-sensor integrated navigation scheme based on information fusion theory.Based on the error equations of SINS,DVL,LBL and other sensor,the information fusion model for the system is build up.Meanwhile,the paper presents the structure and the algorithm of the federated filter and proposes the solution of various sensors frequency.Computer simulation was done and its result show that the model can effectively improve navigation system's precision to ability to fault detection and fully distill information from navigation sensors.