SINS (strap-down inertia navigation system)/SMANS (scene matching auxiliary navigation system)/TRNS (terrain reference navigation system) combined navigation method based on federated filtering and system

An integrated navigation system and federated filtering technology, applied in the direction of integrated navigators, etc., can solve the problems of expensive inertial system and limited accuracy improvement, and achieve high fault tolerance, improved accuracy, and high reliability

Active Publication Date: 2014-03-12
TSINGHUA UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

While accuracy can be improved by using more accurate sensors, the inertial system becomes prohibitively expensive and there is a limit to the improvement in accuracy

Method used

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  • SINS (strap-down inertia navigation system)/SMANS (scene matching auxiliary navigation system)/TRNS (terrain reference navigation system) combined navigation method based on federated filtering and system
  • SINS (strap-down inertia navigation system)/SMANS (scene matching auxiliary navigation system)/TRNS (terrain reference navigation system) combined navigation method based on federated filtering and system
  • SINS (strap-down inertia navigation system)/SMANS (scene matching auxiliary navigation system)/TRNS (terrain reference navigation system) combined navigation method based on federated filtering and system

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Embodiment 1

[0067] Such as figure 1 As shown, the present embodiment describes a federated filtering-based SINS / SMANS / TRNS integrated navigation method, comprising the following steps:

[0068] S1: Scene matching aided navigation uses the corner point method for image matching, and determines the position of the aircraft through the attitude and height conversion of the aircraft;

[0069] Such as figure 2 As shown, the step S1 specifically includes the following steps:

[0070] S11: Input the aerial image and the image of the area to be matched, respectively extract the feature points of the two images using the method of approximating the Hessian matrix with a frame filter, represent the image in scale space and perform three-dimensional positioning;

[0071] S12: Construct the descriptor vector of the point of interest by determining the direction feature of the point of interest, use the matching method based on the closest distance ratio to perform feature point matching, and use t...

Embodiment 2

[0129] Such as Figure 6 As shown, this embodiment records an integrated navigation system for implementing the above integrated navigation method, including:

[0130] Atmospheric inertial navigation system, used to obtain and output inertial navigation position information;

[0131] The flight track generator module is used to simulate the flight track of the aircraft to obtain the position, speed and attitude information of the aircraft;

[0132] SINS / SMANS integrated navigation system, including:

[0133] Image sensor viewing area and positioning parameter calculation module, used to calculate the viewing area and positioning parameters of the onboard image sensor according to the position information output by the atmospheric inertial navigation system;

[0134] A digital reference map database, used to obtain a suitable digital reference map according to the calculation results of the image sensor viewing area and the positioning parameter calculation module;

[0135] ...

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Abstract

The invention discloses an SINS (strap-down inertia navigation system) / SMANS (scene matching auxiliary navigation system) / TRNS (terrain reference navigation system) combined navigation method based on federated filtering and a system. The method includes the following steps: performing image matching for scene matching auxiliary navigation, and confirming the position of an aircraft through the affine transformation relationship between a digital map and a shoot image; performing terrain matching for the terrain reference navigation through adopting the terrain matching method, and confirming the position of the aircraft as per the elevation data; building an error model for the SINS, as well as observation models of the SMANS and the TRNS; and performing information fusion for the output of the SINS, the SMANS and the TRNS, so as to obtain the optimum estimation result, and further calibrate the SINS; The system includes an atmosphere inertia navigation system, a flight path generator module, an SINS / SMANS combined navigation system, an SINS / TRNS combined navigation system and a federated filtering module. The method and the system can effectively improve the accuracy of the navigation systems, and have high fault tolerance, independency and reliability.

Description

technical field [0001] The invention relates to the technical field of integrated navigation and positioning, in particular to a federated filtering-based SINS / SMANS / TRNS integrated navigation method and system. Background technique [0002] "Navigation" is to correctly guide the aircraft to reach the destination within the specified time along the predetermined route. In order to accomplish this task, it is necessary to know the aircraft's instantaneous geographic location, navigation speed, navigation attitude and heading and other parameters at any time. These parameters are often referred to as navigation parameters. For manned aircraft, these navigation parameters can be obtained by the navigator through observation instruments and calculations. However, with the continuous increase of speed and range, the requirements for navigation are getting higher and higher; in order to reduce and replace the work of the navigator, various navigation systems have appeared, which...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/24
Inventor 程农胡海东李威杨霄
Owner TSINGHUA UNIV
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