The invention discloses an
information fusion method which has multiple targets and multiple sensors and is based on a convex optimization
algorithm, and relates to an
information fusion method of a combined
navigation system of strapdown
inertia, a GPS, an atmospheric data computer and a three-shaft
magnetometer. Firstly, the
information fusion method uses the speed and posture data of the atmospheric data computer and the three-shaft
magnetometer for stabilizing an
inertia navigation system, thus forming a combined internal
navigation system of the strapdown
inertia, the atmospheric data computer and the three-shaft
magnetometer with high reliability and high independence; secondly, according to the
optimal control idea of the modern
control theory, the information fusion method uses the convex optimization
algorithm for designing a robust multi-target filter for the fusion of high-precision position of the GPS and
speed measurement information, thus forming an external
system to implement the
hybrid H2 / H infinity /
performance guarantee multi-target filtering on the internal
system, thus improving the navigation precision of the whole
system. The information fusion method completely exerts high reliability and
usability of traditional navigation means and high precision of
satellite navigation, and finally achieves the combined navigation technique with high reliability and high precision based on multiple sensors.