Abstract: In order to solve the problem that the data sampling rate of each subnavigation sensor in the multi-sensor integrated navigation system is different and rational, an information fusion algorithm for the integrated navigation system was proposed. First, the original state equation of the multi-sensor integrated navigation system was transformed into the relationship between the state data block vector and the current state vector to form a new state equation, and the original measurement equation was expressed as the relationship between the state data block vector to form a new measurement equation. Then, based on the matrix operator with scale and small baud property, the concrete implementation process of the improved asynchronous fusion algorithm was given. Finally, the algorithm was applied to the multisensor integrated navigation system of CNS/GNSS/SINS/altimeter. The simulation results show that the position, speed and attitude accuracy can be improved by about 20%, 15% and 10% respectively, compared with the traditional algorithm. The high-precision characteristics and feasibility of the algorithm are verified.

Key words: asynchronous fusion, state data block vector, multi-sensor integrated navigation system, multi-scale