Research on improved probability association algorithm applied to integrated navigation

Integrated navigation often suffers from the fact that the measured data coming from different subsystems do not show enough relevance among themselves. In this paper an improved probability association algorithm is used in integrated navigation to connect the information and calculate the fused information. The short-time probability association algorithm is deduced first to calculate the confidence probability that reflects the inertial navigation system (INS) information and the masking operator is used to estimate the precision of the global positioning system (GPS) information. Secondly, the long-time probability association algorithm is deduced to fuse the integrated navigation information. Finally, the correctional algorithm is deduced to use the information obtained from the long-time probability association algorithm to correct the INS error. The simulation result shows that the improved probability association algorithm can effectively estimate the precision about GPS information and improve the integrated navigation precision.