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Research on FKF Method Based on an Improved Genetic Algorithm for Multi-sensor Integrated Navigation System

机译：基于改进遗传算法的FKF方法在多传感器组合导航系统中的应用

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摘要

The fusion of multi-sensor data can provide more accurate and reliable navigation performance than single-sensor methods. However, the general Federated Kalman Filter (FKF) is not suitable for large changes of complex nonlinear systems parameters and is not optimized for effective information sharing coefficients to estimate navigation preferences. This study concerns research on the FKF method for a nonlinear adaptive model based on an improved Genetic Algorithm (GA) for the Strapdown Inertial Navigation System (SINS) / Celestial Navigation System (CNS) / Global Positioning System (GPS) integrated multi-sensor navigation system. An improved fitness function avoids the premature convergence problem of a general GA and decimal coding improves its performance. The improved GA is used to build the adaptive FKF model and to select the optimized information sharing coefficients of the FKF. An Unscented Kalman Filter (UKF) is used to deal with the nonlinearity of integrated navigation system. Finally, a solution and implementation of the system is proposed and verified experimentally.
机译：与单传感器方法相比，多传感器数据的融合可以提供更准确和可靠的导航性能。但是，一般的联合卡尔曼滤波器（FKF）不适合复杂的非线性系统参数的大变化，也没有针对有效的信息共享系数进行优化以估计导航偏好。本研究涉及基于捷联惯性导航系统（SINS）/天体导航系统（CNS）/全球定位系统（GPS）集成多传感器导航的改进遗传算法（GA）的非线性自适应模型FKF方法的研究系统。改进的适应度函数避免了一般GA的过早收敛问题，并且十进制编码提高了其性能。改进的遗传算法用于建立自适应FKF模型并选择FKF的优化信息共享系数。 Unscented卡尔曼滤波器（UKF）用于处理集成导航系统的非线性。最后，提出了系统的解决方案和实现，并进行了实验验证。

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  • 来源
    《The Journal of Navigation》 |2012年第3期|495-511|共17页
  • 作者

    Quan Wei; Fang Jiancheng;

  • 作者单位

    Science and Technology on Inertial Laboratory, Key Laboratory of Fundamental Science for National Defense- Novel Inertial Instrument & Navigation System Technology, Beijing China;

    Science and Technology on Inertial Laboratory, Key Laboratory of Fundamental Science for National Defense- Novel Inertial Instrument & Navigation System Technology, Beijing China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    federated kalman filter(FKF); integrated multi-sensor navigation(GA); genetic algorithm;

    机译：联邦卡尔曼滤波器（FKF）;集成多传感器导航（GA）;遗传算法;

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