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Multi-boat cooperated navigation method based on distributed augmented information filtering

A collaborative navigation and information filtering technology, which is applied in navigation, surveying and mapping, navigation, and measurement devices, can solve the problems of state restoration, dense matrix inversion calculation complexity, etc., and achieve reduced complexity, high estimation accuracy, and good stability Effect

Inactive Publication Date: 2013-10-02
HARBIN ENG UNIV
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Problems solved by technology

[0005] The technical problem solved by the present invention is: in view of the complex problem of the inverse calculation of the state restoration dense matrix in the augmented information filtering method, a distributed augmented information filtering cooperative navigation algorithm using a distributed incremental Cholesky correction algorithm is proposed, and the analysis The system characteristics of multi-boat cooperative navigation, the state space model of cooperative navigation is established, including the state equation and observation equation of a single boat and the observation equation between boats

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  • Multi-boat cooperated navigation method based on distributed augmented information filtering
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[0032] The present invention will be described in detail below in conjunction with specific embodiments.

[0033] The flow process of the concrete implementation of the present invention is as figure 1 As shown, the position information measured by the inertial device and the inter-ship distance measured by the laser range finder are used as the quantity measurement, combined with the state equation of multi-boat cooperative navigation, firstly, the augmented information filter is used in the state addition and observation update, The information parameters are only changed locally, and then the incremental Cholesky correction algorithm is used in the state restoration, and its distributed algorithm is designed to estimate the position information and heading angle of each boat.

[0034] The present invention takes the cooperative navigation of two boats as an example to explain the specific implementation mode:

[0035] The two boats are marked as A and B respectively. Each ...

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Abstract

The invention discloses a multi-boat cooperated navigation method based on distributed augmented information filtering. The multi-boat cooperated navigation method is used for analyzing characteristics of a multi-boat cooperated navigation system and establishing state space models of cooperated navigation, wherein the state space models comprise a state equation and an observation equation of each single boat and an observation equation between the boats. In order to solve the problem of computational complexity in a filtering process, the multi-boat cooperated navigation method adopts the augmented information filtering to solve a cooperated navigation problem and a distributed progressively increased Cholesky correcting algorithm to decompose an information matrix in state recovering, namely Y is equal to LLT, wherein L is a lower triangular matrix, namely a sparse matrix. The computation amount is greatly reduced by adopting the characteristic of the sparse matrix.

Description

technical field [0001] The invention relates to a multi-ship cooperative navigation method based on distributed augmented information filtering, in particular to a distributed augmented information filtering cooperative navigation algorithm using a distributed incremental Cholesky correction algorithm. Background technique [0002] Collaborative navigation refers to a kind of observation or indirect relative observation between motion platforms, and the sharing of navigation resources between platforms is realized through certain information exchange, so as to obtain a navigation method with better performance than independent navigation of each platform. At present, this navigation technology has been successfully used in human-operated and autonomous delivery systems, and has gradually become a research hotspot, which can be applied to environmental monitoring, planetary exploration, underwater development and search and rescue missions, etc. The same technology based on c...

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Application Information

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IPC IPC(8): G01C21/00
Inventor 奔粤阳郭妍高伟杨晓龙丁伟李倩
Owner HARBIN ENG UNIV
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