Dynamic distribution and corrected multi-source information fusion method based on factor graph
A technology of multi-source information fusion and dynamic allocation, which is applied to satellite radio beacon positioning systems, measuring devices, instruments, etc.
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[0083] The present invention will be further described below in conjunction with the accompanying drawings. Effect of the present invention can be illustrated by following simulation:
[0084] The present invention particularly relates to the problems of the dynamic change of available sensor output and measurement hysteresis in the navigation system, and the complex calculation and insufficient precision of the traditional filtering algorithm. and get more precise navigation parameters.
[0085] Step 1: Build a mathematical model of the navigation system
[0086] 1. System equations
[0087] Select the 15-dimensional state quantity of the system according to the indirect method:
[0088]
[0089] in, is the attitude angle error; δV=[δV e δV n δV u ] T is the speed error; δp=[δL δλδh] T is the position error; b g =[b gx b gy b gz ] T is the gyro constant drift; b a =[b ax b ay b az ] T Accelerometer constant bias.
[0090] The systematic error mod...
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