Adaptive federal filtering method of vector-form information distribution coefficients

A technology of information distribution coefficient and federated filtering, applied in the direction of integrated navigator, etc., can solve the problem that federated filtering cannot fully reflect the characteristics of state quantity changes, and achieve the effect of improving stability and accuracy

Inactive Publication Date: 2012-02-15
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to overcome the defect that the federated filtering of scalar form information distribution coefficients cannot fully and specifically reflect the change characteristics of each state quantity, and provide an adaptive federated filtering method of vector form information distribution coefficients

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  • Adaptive federal filtering method of vector-form information distribution coefficients
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  • Adaptive federal filtering method of vector-form information distribution coefficients

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Embodiment Construction

[0026] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0027] Such as figure 1 As shown, the principle of the present invention is: starting from the perspective of geographic system navigation, according to the system state equation and the linearized measurement equations of each subsystem, the filter subsystem is formed, and the estimated covariance matrix P is extracted from each filter subsystem i and the observability matrix Q i , and combine the information of the two to obtain the information distribution coefficient B in vector form i , so as to further complete the steps of information distribution, optimal fusion, etc., and realize the optimal estimation of the integrated navigation error state quantity. The specific implementation method is as follows:

[0028] 1. Establish the error state quantity equation of the inertial navigation system

[0029] Select the navigation coordinate syst...

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Abstract

The invention discloses an adaptive federal filtering method of vector-form information distribution coefficients. The method comprises the following steps of: firstly, on the basis of analysis of the working environments and working characteristics of three navigation sensors such as a global positioning system (GPS), a celestial navigation system (CNS) and a synthetic aperture radar (SAR), establishing a linearization measurement equation of an inertia navigation system and each navigation sensor under a geographical system, and constructing filtering sub-systems; secondly, respectively performing Kalman filtering on the filtering sub-systems, designing a scheme for calculating vector information distribution coefficients by combining characteristic values of estimation error covariancematrixes of the sub-systems and singular values of observable matrixes of the sub-systems, and designing a new information distribution equation for solving the problem of asymmetry of covariance matrixes caused by vector distribution coefficients; and finally, performing optimal estimation on the error state of inertial navigation by using a federal filtering method. The method is high in navigation accuracy; and by adoption of the method, a multi-sensor combination navigation system can fully estimate the error state quantity of the inertia navigation system in a dynamic environment.

Description

technical field [0001] The invention relates to an adaptive federated filtering method for information distribution coefficients in the form of vectors, which belongs to the technical field of aircraft integrated navigation, and can be applied to the determination of navigation parameters of aviation aircraft flying at high altitude for a long time, and is used to improve the navigation accuracy of the navigation system. Background technique [0002] With the development of aerospace technology, the performance requirements of navigation and guidance systems are getting higher and higher, and integrated navigation systems have become an important navigation system solution. In the field of navigation multi-sensor information fusion, decentralized filtering technology has been paid more and more attention, and the decentralized federated filter proposed by Carlson has been more and more widely used. Information allocation is the key to the research and design of federated fil...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/24
Inventor 陈计辉熊智王融张丹刘建业张旭张承刘伟霞姚小松
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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