In order to solve the problem of uncertain noise during the measurement of actual system, an extended Kalman filter fusion\nestimation method based on multisensor fusion algorithm with uncertain effects is proposed. Then the equivalent measurement\nand the corresponding error matrix are estimated by the proposed uncertain fusing algorithm. Submit the results into the system\nmodel for filter processing and the optimal estimation can be obtained by the filtering method. Finally, the algorithm is verified in\nthe GPS/INS navigation system which shows that the fusion result with uncertainty effect is much better than then fusion result\nwith independent noise due to the consideration of correlated noise and uncertain effects for the actual system. This is also validates\nthe effectiveness and practicality of the proposed algorithm.
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