Compositive Information Disposal Technology On Integrated Bridge System

This dissertation researched on integrated bridge system (IBS) and its integrated navigation system of multi-source information. So a series of key technologies which are designing of system framework for IBS, designing of high-precision integrated navigation system, designing of federated filters based on robust filtering, fault tolerant design ought to be researched. The main work done in this dissertation is as follows:1. The designing of system framework for IBS is researched. The system functions, components, information flow, logical structure and technical standard of IBS are discussed in the viewpoint of system designed. A three-dimensional architecture is presented, which includes operational architecture, system architecture and technical architecture. Operational architecture prescribes system tasks and information flow; System architecture defines system components and logical structure. Technical architecture specifies the standards and criterions of IBS. The architecture of IBS is put forward in this dissertation, which gives theoretical framework for system design.2. Information fusion for integrated navigation system of IBS is researched. The error models of strap-down inertial navigation system (SINS), GPS, Radio determination Satellite Service (BD), Loran-C (LC) and Doppler velocity- measuring system (DVS) are made. The local feedback compensation FKF is presented. The structure of the local feedback compensation FKF is made and then the information fusion algorithm and local feedback compensation Kalman filter of the local feedback compensation FKF are derived. The local feedback compensation FKF of SINS/GPS/BD/ LC/DVS is designed and simulation is done.3. A self-adaptive Kalman filtering algorithm based on the maximum likelihood estimation criterion and application of the self-adaptive filtering on integrated navigation system are researched. At first the self-adaptive Kalman filtering was introduced,the algorithm's characteristic is that the variance matrix of system noise and measurement noise can be estimated in real-time using the algorithm. Thus, this self-adaptive filtering algorithm will be more efficiently adapted to the change of system model. The no-reset federated filters of SINS/GPS/BD/ LC/DVS HSINS based on the self-adaptive filtering is designed and simulation is done.The main innovations done in this dissertation are as follows:1. The architecture of IBS is put forward in this dissertation, a three-dimensional architecture is presented, which includes operational architecture, system architecture and technical architecture, which gives theoretical framework for system design.2. The local feedback compensation FKF is presented. The information fusion algorithm of the local feedback compensation FKF is derived. The fault-tolerant performance of local feedback compensation FKF is the same as no-reset FKF presented by Carlson while its precision is better.3. A self-adaptive Kalman filtering algorithm based on the maximum likelihood estimation criterion is researched and the no-reset federated filters based on the self-adaptive filtering is designed and simulated, to demonstrate that the fault-tolerant performance and precision of the no-reset federated filters based on the self-adaptive filtering is better than no-reset FKF presented by Carlson.