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Mathematical Problems in Engineering
Volume 2015, Article ID 218561, 9 pages
Research Article

Fusion Estimation Algorithm with Uncertain Noises and Its Application in Navigation System

1School of Electronic Engineering, Xi’an Shiyou University, Xi’an, Shaanxi 710065, China
2School of Automation, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, China

Received 30 April 2014; Revised 9 September 2014; Accepted 9 September 2014

Academic Editor: Moran Wang

Copyright © 2015 Zhiping Ren and Huili Wang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In order to solve the problem of uncertain noise during the measurement of actual system, an extended Kalman filter fusion estimation method based on multisensor fusion algorithm with uncertain effects is proposed. Then the equivalent measurement and the corresponding error matrix are estimated by the proposed uncertain fusing algorithm. Submit the results into the system model for filter processing and the optimal estimation can be obtained by the filtering method. Finally, the algorithm is verified in the GPS/INS navigation system which shows that the fusion result with uncertainty effect is much better than then fusion result with independent noise due to the consideration of correlated noise and uncertain effects for the actual system. This is also validates the effectiveness and practicality of the proposed algorithm.