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�������պ����ѧѧ�� 2006, Vol. 32 Issue (11) :1281-1285    DOI:
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�ܾ��, ������, ʢε*
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Fast data fusion method for integrated navigation system and hardware in loop simulation
Cao Juanjuan, Fang Jiancheng, Sheng Wei*
School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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ժҪ �����ÿ������˲��������ݽ��д���ʱ,Э��������Ԥ�����������Ҫ�ļ��������,ÿһ�������ļ������몫n3(n��Ϊ״̬ʸ��ά��)������,Լռ�����������˲�����70%��CPUʱ��.Э������Ԥ�����������,���������������Ҫ�Ĵ��ݹ�����Ҳ���.����΢С�ͷ���������ϵͳ����С������͹��ġ��ͳɱ���΢��������Ϊ���������,Ϊ�˱�֤����ʵʱ�Ե�Ҫ��,�����һ�ֽ�ά�˲����Ӿ���������Ŀ����˲�����������MIMU(Micro Inertial Measurement Unit)/GPS(Global Positioning System)/MMC(Micro Magnetic Compass)��ϵ����˲��㷨�ļ�����,������㷨��ʵʱ��.�������������������:�����㷨���������ṩ��Ϊ����ĵ�������,���Ҵ���С�˼�����,�����ϵͳ��ʵʱ��.
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Abstract�� The main factor in determining the computation time of Kalman filter is the dimension of the model state vector. The number of computations per iteration is direct proportion of ��n�� cube. Any reduction in the number of states will significantly decrease the computation time. Since 70 percent of the filtering calculation task is the forecast equation of covariance matrix, the method of reduced-dimension model and matrix product is applied in the micro inertial measurement unit/global positioning system/micro magnetic compass (MIMU/GPS/MMC) integrated navigation system, and the hardware in the loop simulation results based on the micro processor prove that the method not only can provide satisfactory accuracy for aircraft navigation but also can reduce the filtering calculation.
Keywords�� micro inertial measurement unit   global positioning system   micro magnetic compass   integrated navigation   real time   reduced-dimensions filtering     
Received 2006-04-30;
Fund:

�����������л���������Ŀ(K1204060116);�����������˲�֧�ּƻ�������Ŀ(NCET-04-0162)

About author: �ܾ��(1978-),Ů,����������,��ʿ��,caojuanjuan@aspe.buaa.edu.cn.
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�ܾ��, ������, ʢε.һ����ϵ���ϵͳ�����˲����������������[J]  �������պ����ѧѧ��, 2006,V32(11): 1281-1285
Cao Juanjuan, Fang Jiancheng, Sheng Wei.Fast data fusion method for integrated navigation system and hardware in loop simulation[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2006,V32(11): 1281-1285
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