The Application of Multi-Source Information Fusion Technology in Vehicle Integrated Navigation System
Binhui Tang, Weijun Zeng, Zhen-xing Zhou · 2018
By analyzing the advantages and disadvantages of GPS, Beidou satellite positioning and navigation system and inertial navigation system, a design method of Beidou / GPS / INS integrated navigation system is proposed. This method uses the improved Kalman filter algorithm, and combines the integrated navigation system with multi-sensor such as laser radar for sufficient information fusion. The integrated navigation system model uses the dispersive filter structure of federated filtering to establish local filters respectively and deduces the state equation and observation equation of combined navigation. The filter cross-covariance matrix is used to solve the cross-correlation between local filters and affect the positioning accuracy problem. The simulation results show that the integrated navigation system has higher positioning accuracy than single navigation system, and can effectively enhance the real-time and fault-tolerance of the system and facilitate the troubleshooting and isolation of the navigation subsystems.