Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Anti-outlier federated filtering method based on innovation orthogonality

A technology of federated filtering and innovation orthogonality, applied in the field of data processing, can solve the problem of lack of analysis of filter impact analysis

Inactive Publication Date: 2013-02-06
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
View PDF4 Cites 14 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the process of outlier identification and elimination, the analysis of the influence of the filter is lack of analysis.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Anti-outlier federated filtering method based on innovation orthogonality
  • Anti-outlier federated filtering method based on innovation orthogonality
  • Anti-outlier federated filtering method based on innovation orthogonality

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in detail:

[0026] In order to facilitate the public's understanding of the technical solution of the present invention, the basic content of federated filtering is described below by taking the multi-information combined navigation of inertial (SINS) / GNSS / astronomical combination as an example.

[0027] In the inertial / GNSS / astronomical integrated navigation system, GNSS adopts Beidou receiver, astronomical subsystem adopts star sensor, Beidou system provides speed and position reference, star sensor provides attitude reference, SINS / Beidou filtering and SINS / star sensitivity are performed respectively. filter, and then fuse through the main filter to correct the inertial navigation system. Even if Beidou or Xingmin temporarily fail, the system can easily isolate the faulty components, and the remaining components continue to work, ensuring the accuracy of the inerti...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an anti-outlier federated filtering method based on innovation orthogonality and belongs to the technical field of data processing. By using the anti-outlier federated filtering method based on the innovation orthogonality, measurement values of a sub-filter are subjected to outlier recognition, and measurement vectors which have outliers are reconstructed by a matrix which satisfies innovation and residual orthogonality, so that the influence of measurement data outliers on filtering precision is effectively reduced; and before main filter fusion, self-adaptive adjustment is carried out on a sub-filter gain and federated filtering information according to the outlier recognition, the influence of continuous outliers on system output stability is reduced, and the filtering precision and stability of the federated filtering are improved.

Description

technical field [0001] The invention relates to a federated filtering method, in particular to an innovative orthogonality-based anti-outlier federated filtering method, which can suppress the influence of measurement data outliers on filtering accuracy, and belongs to the technical field of data processing. Background technique [0002] The multi-source information integrated navigation system is to fuse the information of two or more navigation systems to form a multi-sensor integrated navigation system. Using the optimal estimation theory of multi-information fusion is conducive to making full use of the information of various navigation systems to complement each other. , so that the combined navigation system is greatly improved in terms of accuracy and reliability. The multi-source sensors of integrated navigation usually include inertial navigation system, satellite navigation system GNSSS, astronomical navigation system (star sensor), scene matching navigation system...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C21/20
Inventor 华冰杨镜熊智郁丰康国华
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com