Aiming at the problem that the measurement noise is unknown,an improved mul-ti-sensor information fusion method is proposed. Firstly,the measurement noise is tracked and estimated in real-time. Then,the measurement noise based on the estimation is optimally weighted and fused to solve the problem that the weight value of the conventional weighting method is not optimum. Finally,the fusion result is Kalman filtered carried out to obtain the state esti-mation of the system. The improved multi-sensor information fusion method is applied to the vertical altitude information fusion system of a UAV. The simulation results show that the me-thod has certain practical value in engineering.
维普
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