Quick integrated navigation method based on Carlson filtering algorithm for reducing dimensionality

Abstract

The invention provides a quick integrated navigation method based on a Carlson filtering algorithm for reducing the dimensionality. The quick integrated navigation method mainly comprises two parts of data fusion and position compensation, wherein the data integration part adopts a data integration algorithm based on the Carlson filtering algorithm for reducing the dimensionality, and the modeling for the information of speed and attitude of an INS (Information Network System) module and the error information of an INS device is realized through the data fusion algorithm; and according to the position compensation part, the position information calculated by the INS module can be corrected by utilizing the position information calculated by pseudo-range information which is observed by a satellite receiver. According to the quick integrated navigation method disclosed by the invention, the dimensionality of a system is reduced from 15 to 12 according to the modification of a state equation and a measurement equation and on the basis that the accurate correction of an INS navigation module is met, the operating data quantity of the system is reduced, a Carlson filter is adopted as a data fusion filter at the same time, the positive definiteness of a matrix is ensured by carrying out upper triangular decomposition on a mean square error matrix and the evaluation of the mean square error matrix in the Carlson filter, and the diffusion of the filter can be effectively avoided.

Description

technical field [0001] The invention relates to the fields of satellite navigation and inertial navigation, and is a fast anti-divergence integrated navigation algorithm applied to an integrated navigation system. Specifically, it is a fast combined navigation method based on Carlson filtering algorithm with dimensionality reduction. Background technique [0002] In recent years, with the development of satellite navigation systems, satellite navigation systems have played an increasingly important role in daily work and life. The GPS receiver can locate the position of the carrier with high precision around the clock. When the satellite signal is good, the GPS receiver can continuously and effectively realize the positioning function. However, GPS receivers rely on external signals. When external signals are missing and under conditions of strong interference and high dynamics, it is difficult for traditional GPS receivers to perform normal positioning and navigation func...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the disadvantages of the existing integrated navigation algorithm, such as huge amount of data, difficult hardware implementation and easy divergence of data fusion filter, the present invention proposes a fast integrated navigation method based on Carlson filter algorithm with reduced dimensionality

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