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
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Problems solved by technology

However, in the process of outlier identification and elimination

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  • 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

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[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...

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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...

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Application Information

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IPC IPC(8): G01C21/20
Inventor 华冰杨镜熊智郁丰康国华
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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