Integrated navigation algorithm with posterior variance and asynchronous fusion
ZHANG Heng-hao
SHI Jing
Abstract：When the integrated navigation system inosculates navigation information that is obtained from every nav-igation system, the navigation data may arrives at the fusion center asynchronous.The traditional integrated navigation asynchronous fusion algorithm may produce much error when it deals with asynchronous data.Aiming at this problem, the integrated navigation algorithm with posterior variance and asynchronous fusion is designed to solve the asynchronous fusion problem in the system.First of all,system noise and measure noise about the integrated navigation system are im-proved to make sure they are un-correlated.Then posterior variance is computed through posterior mean value and design the first prediction calculate way about state variable.At last the integrated navigation asynchronous fusion set of equations is set up based on posterior variance and asynchronous fusion algorithm.Simulation shows that the integrated naviga-tion asynchronous fusion algorithm can decrease the error effectively which caused by asynchronous data than traditional integrated navigation asynchronous fusion algorithm and increase the whole integrated navigation system's precision.
Keywords：asynchronous fusionposterior varianceforecast measure valueun-correlationposterior mean value
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 1561-1567 )