Title :
A Study of Information Fusion Based on Federated Kalman Filtering
Author :
Yan, Jianguo ; Yuan, Dongli ; Wang, Xinmin ; Xi, Qingbiao ; Feng, Wenlan ; Jia, Qiuling
Author_Institution :
Coll. of Autom., Northwestern Polytech. Univ., Xi´´an
Abstract :
Traditionally the popular navigating modes in UAV navigation system are RP (radio positioning) and GPS (Global Positioning System). But these two kinds of method have their own inherent flaw respectively. The RP (radio positioning) system must rely on grand control station, at the same time, it will be disturbed easily and its navigation precise is not good when flying distance is far. The updating rate of GPS is low and the position precise of GPS will descend in shelter area such as foothill and mountainous area. Actually, according to the practical needs and possibility people usually combine many kinds of navigation system so that we can utilize their merit. In this paper, we design a new kind of integrated navigation system combined many kinds of navigation system, such as DNS (Doppler navigation system), TAN (terrain aided navigation) and SMN (scene matching navigation) based on SAR (synthetic aperture radar). This integrated navigation system is based on federal Kalman filtering. The simulation results show that this method can provide satisfactory navigation precise for UAV autonomous fly
Keywords :
Doppler effect; Kalman filters; navigation; remotely operated vehicles; sensor fusion; Doppler navigation system; UAV navigation system; federal Kalman filtering; federated Kalman filtering; information fusion; integrated navigation system; scene matching navigation; synthetic aperture radar; terrain aided navigation; unmanned aerial vehicle; Control systems; Global Positioning System; Information filtering; Information filters; Kalman filters; Layout; Radio control; Radio navigation; Synthetic aperture radar; Unmanned aerial vehicles; UAV(Unmanned Aerial Vehicle); autonomous fly; federal Kalman filtering; information fusion; integrated navigation;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1712594
