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中文摘要：
针对组合导航系统中各子系统量测输出速率不同的情况,提出了一种量测信息引导的组合导航融合滤波方法.该方法采用信息量与信息当量来描述当前时刻的所有可用信息,并基于加法原理,利用状态预测和当前可用的量测值来更新状态估计,实现最优融合估计.仿真结果表明,该方法能够应用于多量测信息非等间隔输出的情况,即使某子系统失效时也能正常工作,且能够取得较好的融合滤波效果,相较于联邦滤波和集中滤波具有更好的实时性能.
英文摘要：
Aimed at the different output rates of each sub-aided navigation system in the integrated navigation system, a fusion filtering method guided by measurement information was proposed using information quality and information equivalent to register all the currently available information. Based on the additional principle, system state estimation was updated depending on the state prediction and currently available measurements, which is theoretically optimal. The simulation results show that the proposed method can handle the unequal output rates of multiple measurements, and work well when any subsystem goes wrong at any time. Compared with the federated filtering method and concentrated filtering method, the proposed method has a better real time performance.
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