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提出一种联合式非线性预测滤波算法,解决该系统在姿态动力学模型误差非高斯分布条件下的多敏感器信息融合问题。从算法结构和估计准则两个方面证明非线性预测滤波(NPF)与Kalman滤波的等效性,分析联合式NPF的算法流程,讨论模型误差方差矩阵的计算方法,给出加权系数矩阵的设计准则;介绍星敏感器和全球卫星导航系统(GNSS)的定姿原理,推导星敏感器/GNSS组合姿态确定系统的联合式NPF滤波模型,分析系统的算法实现流程;进行数值仿真试验,结果表明联合式NPF算法融合NPF与联邦滤波的优良品质,可有效解决姿态动力学模型误差非高斯分布条件下无陀螺姿态确定系统的多敏感器信息融合问题。 更多还原

【Abstract】 A federated nonlinear predictive filtering algorithm is presented for the gyroless attitude determination system with multiple sensors.The approach combines the good qualities of both the nonlinear predictive filter(NPF) and federated filter.Moreover,this algorithm can solve the information fusion problem effectively for the system of which the attitude dynamics model error is Non-Gaussian distribution.Firstly,the equivalence relation between NPF and Kalman filter is demonstrated from algorithm ... 更多还原