Study on multiple navigation sensor data processing

During ship navigating, to solve the error of simple Kalman filter in the process of state parameters of real system changed, multiple model adaptive control method is applied to the intenerated navigation system. Comparing the performance of single model INS/GPS/Doppler integrated navigation system with that of multi-model INS/GPS/Doppler integrated navigation by digital simulation, it is shown that introducing multiple model adaptive control into integrated navigation system can enhance the adaptability of system scheme to the environment and greatly improve the accuracy of integrated navigation system.