Research Of Information Fusion Technology In Ship Integrated Navigation System

For accurate and reliable navigation of ship ,the ship navigation system should offer right and reliable information of position ,stance and speed .So the accuracy and reliability is used to appraise the navigation system. With the development of navigation and autoimmunization, the integrated navigation holding various navigation sensor modules comes into being a multi-sensor navigation system. Information fusion provides an effective way to multi-sensor data processing problem. The accuracy and the reliability of a integrated navigation system have been improved by effectively using the multi-sensor information fusion, and the theory of fusion has been a quite hot research topic in the domain of integrated navigation in the world.In this paper, the integrated navigation system which is composed of DR,GPS and LoRan C is studied.The information fusion ,mostly the Kalmen filter is used in the integrated navigation system .At first ,the theory and development of the information fusion and integrated navigation system is introduced briefly and the navigating technologies of DR,GPS and LoRan C are also introduced,their excellence and disadvantage are analysed.Then ,the theory of Kalman filter , federated filter and adaptive filter and the means of the pretreatment for data of the integrated navigation system are introduced and studied roundly. At last, this study establishes three mathematical modles to simulate and analyse the central Kalman filter,federated filter and adaptive federated filter.The results shows that Kalman filter can clearly improve the accuracy of the ship intergrated navigation system and the federated filter can provide improvements in fault-tolerance and data throughput and the adaptive filter can overcome the disadvantage of the routine Kalman filter and improve the adaptive ability.