H infinity information fusion method for WSN (Wireless Sensors Network)/INS (Inertial Navigation System) high-precision real-time combination and navigation

Abstract

The invention discloses an H infinity information fusion method for WSN Wireless Sensors Network/INS Inertial Navigation System high-precision real-time combination and navigation. The method is realized through the following steps: setting the space error and the speed error of an unknown node at each moment in two directions as a state vector; setting the calculated space error and the calculated speed error at each moment as per the data obtained and collected from two systems as the observation vector output; rebuilding an asymptotically stable system, namely an H infinity filter, through the state vector and the observation vector output; estimating the optimal state vector at each moment through the H infinity filter; and at the same time, adding the uncertainty description of the data collection period when a system equation of the H infinity filter is built, so as to be more approximate to the condition that the adopted collection period at each moment is slightly uncertain due to the hardware in reality. The precision of the estimation on the state obtained by the filter is higher than that of the traditional filtering method, and the robustness of the filter is stronger.

Description

technical field [0001] The invention relates to an H∞ information fusion method for WSN / INS high-precision real-time integrated navigation, belonging to the field of multi-sensor data fusion. Background technique [0002] The demand for precise location information of unknown nodes drives the development of precise positioning technology, and this trend will remain unchanged for a long time in the future. In recent years, Wireless Sensors Network (WSN) has shown great potential in the field of short-range positioning due to its low cost, low power consumption and low system complexity. WSN provides the possibility for unknown node positioning in areas without GPS signals, the so-called "blind areas", such as indoors, urban areas with dense high-rise buildings, mines, tunnels, etc. Wireless communication technology (such as ZigBee, WIFI, etc.), so if you want to complete long-distance target tracking and positioning, you need a large number of network nodes to complete it to...

AI Technical Summary

Problems solved by technology

This method overcomes the problem that traditional filtering methods (such as KF, EKF) have specific re

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