Research On Information Fusion Method Of Multi-sensor Integrated Navigation System

Satellite Navigation System and Strapdown Inertial Navigation System are used in the field of civil and military fields.At the same time,the rapid development of information fusion method provides an important support for improving the precision of integrated navigation.This paper studies the tightly integrated navigation information fusion technology that is based on BeiDou Navigation Satellite System and Strapdown Inertial Navigation System.The information fusion is achieved between the pseudo range and pseudo range rate of BeiDou Navigation Satellite System and the navigation data of Strapdown Inertial Navigation System.In this paper,Data Spatial-Temporal Matching,Data Association,Data Fusion are three important steps in the course of information fusion.Regarding data association,this paper proposes an Adaptive Probabilistic Data Association method.The Adaptive Probability Data Association suggests an adaptive weighted parameter that adapts to the navigation information,and performs better than other related algorithms in simulations.The performance of Adaptive Probabilistic Data Association method varies with different parameters.Therefore,in practical applications the appropriate parameters need to be chosen to achieve the best performance.In terms of data fusion,this paper,based on the Particle Swarm Optimization Particle Filter,proposes a Modified Weight Particle Swarm Optimization Particle Filter algorithm.This algorithm optimizes the updating pattern of particles by adding the advantageous and disadvantageous speed,thereby changing the weights to modified particles,which in turn integrates the global and local searching ability of Particle Swarm Optimization Particle Filter algorithm and accelerates the convergence rate of particles.As a result,the proposed algorithm reduces the probability of the particle filter trapping into the local optimum,thus achieving accurate global positioning in a relatively short period of time.Finally,this paper conducts simulations with the tightly integrated navigation information fusion technology that is based on BeiDou Navigation Satellite System and Strapdown Inertial Navigation System.The experiment results show that,through data association and data fusion,the performance of the improved algorithm exhibits substantial advantages in spatial position and the error estimation and the precision of spatial velocity.