Combination navigation filtering method of multi-model underwater vehicle

Abstract

The invention discloses a combination navigation filtering method of a multi-model underwater vehicle. The navigation filtering method provided by the invention comprises the following steps of firstly establishing a state equation, an observation equation and a noise equation of a SINS/DVL/TAN/MCP combination navigation system according to a underwater vehicle combination navigation system; determining a model set according to a system equation and a noise model; selecting characteristic variable from the combination navigation system, and establishing a bayesian network; and correcting the model switching probability in multi-model estimation by adopting a bayesian network parameter according to a multi-model filtering algorithm structure, and calculating the estimation fusion of a filter in a weight sum manner. The data processing and resolving operations of the combination navigation are finished by a navigation computer according to a filtering model and an algorithm flow of the combination navigation system. The navigation filtering method provided by the invention has the advantages of being capable of improving the filtering accuracy of the combination navigation system under a complicated environment, and strengthening an autonomous navigation positioning property of the underwater vehicle.

Description

technical field [0001] The invention relates to a combined navigation filtering method of a multi-model underwater vehicle to realize autonomous navigation of the underwater vehicle, and belongs to the technical field of multi-sensor information fusion. The patent content is also applicable to inertial integrated navigation, target tracking and recognition, image processing, pattern recognition and other multi-sensor information fusion and multi-source data processing application fields. Background technique [0002] Due to the complex underwater environment, long working hours, and high requirements for reliability and positioning accuracy of underwater vehicles, it is difficult for a single navigation method to meet the requirements. Generally, a combination of two or more non-similar navigation methods is used. In the design of navigation filters, it is usually assumed that the various parameters remain constant, but due to the presence of ocean current disturbances, envi...

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Problems solved by technology

The present invention is aimed at the above situation, solves the problems of system mode switching lag and estimation accuracy reduction caused by traditional multi-model algorithms due to insufficient human prior knowledge, and improves the estimation performance of underwater vehicle integrated navigation algorithms

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