A Strapdown Inertial Navigation Integrated Navigation Method Aided by Auv Manipulation Model Based on h∞ Filter

Abstract

The invention belongs to the technical field of combined navigation systems, and particularly relates to an AUV (Autonomous Underwater Vehicle) manipulating model auxiliary strapdown inertial navigation combined navigation method based on H infinity filtering. The AUV manipulating model auxiliary strapdown inertial navigation combined navigation method comprises the following steps of: deducing a three degree-of-freedom manipulating model influenced by an ocean current according to an AUV model; establishing the state equation of an AUV manipulating model auxiliary strapdown inertial navigation combined navigation system; establishing the measurement equation of the AUV manipulating model auxiliary strapdown inertial navigation combined navigation system; carrying out state estimation on the AUV manipulating model auxiliary strapdown inertial navigation combined navigation system on the basis of H infinity filtering, and correcting the strapdown inertial navigation system by utilizing a position and a speed error which are obtained through estimation. The combined navigation system reduces the cost and volume of an AUV navigation system. The AUV manipulating model auxiliary strapdown inertial navigation combined navigation method disclosed by the invention solves the problems of reduced kalman filtering accuracy and even filtering divergence which are caused when a system model is inaccurate in practical application by estimating navigational parameters by adopting H infinity filtering.

Description

technical field [0001] The invention belongs to the technical field of integrated navigation systems, and in particular relates to an H∞ filter-based AUV manipulation model-assisted strapdown inertial navigation integrated navigation method. Background technique [0002] At this stage, most autonomous underwater vehicles (AUV) use the strapdown inertial navigation system (SINS) as the main navigation method. For the simple strapdown inertial navigation system without effective assistance, the system divergence problem caused by error accumulation, the Doppler velocity log (DVL) is often used to limit the drift. However, the detection method is relatively rough, and the underwater terrain is complex, which makes the detection range of DVL unable to reach the seabed in some cases, which reduces the feasibility of DVL / SINS integrated navigation. When the DVL fails and accurate measurement results cannot be obtained, a navigation method that can effectively reduce drift is need...

AI Technical Summary

Problems solved by technology

[0003] At the same time, in many practical applications, not only is there a lack of understanding of the statistical characteristics of external interference signals, but also the system model itself has a certain range of perturbations, which greatly reduces the estimation accuracy of the Kalman filter. In severe cases, filter divergence will occur, while the H∞ filter The technology has very good robustness, which can ensure the accuracy of integrated navigation, improve system reliability, and prevent filter divergence

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