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《Acta Geodaetica Et Cartographic Sinica》 2004-01
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Integrated Navigation by Using Variance Component Estimates of Multi-sensor Measurements and Adaptive Weights of Dynamic Model Information

YANG Yuan-xi~1, GAO Wei-guang~2 (1. Xi'an Research Institute of Surveying!and Mapping, Xi'an 710054,China; 2. Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450052,China)  
The accuracy of the measurement vectors of the multi-sensor is usually different. In order to balance the contributions of the various navigation sensors to the last output, the principle of variance components estimation is applied. An integrated navigation estimator is given at first, based on the multi-sensor measurements. The variance components are applied for optimal balance of the contributions of the local navigation outputs that resulted from measurement vectors of the multi-sensors. On the basis of the integrated navigation output, the kinematic predicts are fused by using an adaptive filtering principle. An integrated navigation example by using simulated data is performed and analyzed.
【Fund】： 国家杰出青年基金资助项目(49825107);; 国家自然科学基金资助项目(40174009和40274002)
【CateGory Index】： V249
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