The Research Of Information Fusion Filtering Algorithm For Compass/INS Integrated Navigation

Satellite Navigation Systems and Inertial Navigation System are the most widely used infield of navigation and positioning. And since the two systems with strong advantagecomplementary characteristics, so the integrated navigation constituted by the two systemshas been the focus of research and discussion in the navigation field in domestic and abroad.At the same time, the study and application of information fusion technology has become theimportant means which improve the navigation precision of integrated navigation system.Especially, Beidou satellite navigation system which is designed by our country has beennetworking gradually and put into use. Researching the information fusion filteringprocessing technology of the integrated navigation system, constituted by Beidou satellitenavigation system and inertial navigation system, has a wide range of prospective, thepractical application value and long-term strategic significance.The paper makes Compass and inertial integrated navigation system based onpseudo-range and pseudo-range rate tight combination as the research background, based onthe studies of the previous integrated navigation filter algorithms, especially Artificial FishSwarm Algorithm-Particle Filter, we propose and design an optimized filter algorithm--Dynamic Artificial Fish Swarm Algorithm-Particle Filter.In order to effectively evaluate the performance of Dynamic Artificial Fish SwarmAlgorithm-Particle Filter, in application of Compass/INS integrated navigation system, thepaper simulated and designed the carrier running track, constellation of Compass, and inertialmeasuring elements of gyroscope and accelerometer, established the mathematical model ofintegrated navigation system. Then, the paper respectively applied these algorithm in theintegrated navigation system, including Particle Filter Algorithm, Artificial Fish SwarmAlgorithm-Particle Filter and Dynamic Artificial Fish Swarm Algorithm-Particle Filter, testedthe performance through the simulation.The simulation results proved that, comparing with the existing filter algorithms, theimproved Dynamic Artificial Fish Swarm Algorithm-Particle Filter effectively overcame theproblems of the weights degeneration, largely improved the estimation precision of data fusion in the design of Compass/INS integrated navigation system, achieving the purpose ofimproving the positioning accuracy of integrated navigation system.