Onboard distributed type POS real-time transmission alignment method based on federal filtering

A technology of transfer alignment and federated filtering, applied to measuring devices, instruments, etc., can solve the problems that the influence of transfer alignment accuracy cannot be ignored and the amount of calculation will increase

Active Publication Date: 2015-05-27
BEIHANG UNIV
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Problems solved by technology

at this time, and The impact on the accuracy of the transfer alignment cannot be ignored, and and Contains speed error and position error items, considering these factors will increase the state dimension and increase the amount of calculation

Method used

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  • Onboard distributed type POS real-time transmission alignment method based on federal filtering
  • Onboard distributed type POS real-time transmission alignment method based on federal filtering
  • Onboard distributed type POS real-time transmission alignment method based on federal filtering

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Embodiment Construction

[0121] Such as figure 1 Shown, concrete method of the present invention implements as follows:

[0122] 1. Carry out transfer alignment structure design based on federated filtering

[0123] Considering the sub-IMU as a common reference system, two sub-filters and one main filter are designed respectively. The real-time transfer alignment structure diagram of airborne distributed POS based on federated filtering is shown in figure 2 shown. Among them, in the sub-filter 1, the sub-IMU and the main POS adopt the speed matching method to perform local filtering to obtain the local state estimation value and covariance matrix P v ; In the sub-filter 2, the sub-IMU and the main POS adopt the attitude matching method to perform local filtering to obtain the local state estimation value and covariance matrix P a ; Finally, the estimated value of the common state of each sub-filter and covariance matrix P cv and P ca Feed into the main filter and compare with the state e...

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Abstract

The invention provides an onboard distributed type POS real-time transmission alignment method based on federal filtering. An onboard distributed type POS is composed of a high-precision main POS and a plurality of secondary IMUs. Aiming at the problem that the instantaneity requirements of onboard distributed type POS real-time transmission alignment are high, the federal filtering based on a dispersion structure is used for transmitting and aligning. Firstly, a federal filterer structure design is carried out, namely two secondary filters and one main filter are designed; secondly, mathematic models of the two secondary filters are established to carry out Kalman filtering to obtain partial estimation; then, the main filter is used for estimating an overall situation filtering solution, and resetting the two secondary filters and the main filter; and finally, the positions, speeds and postures of the secondary IMUs are more accurately calculated by using a reset estimation state amount.

Description

technical field [0001] The invention relates to an airborne distributed POS real-time transmission and alignment method based on federated filtering, which can be used for calculating the position, velocity and attitude of sub-IMUs in airborne or shipborne distributed POS systems, and is especially suitable for real-time requirements higher case. Background technique [0002] At present, high-precision earth observation with airborne multi-task remote sensing payloads has become an important development direction of space-based earth observation, such as integrating high-resolution surveying and mapping cameras, imaging spectrometers, large-field infrared scanners, synthetic aperture radar (Synthetic Aperture Radar) , SAR) multi-task load on the same carrier, airborne distributed array antenna SAR and flexible multi-baseline interferometric SAR, etc. In order to achieve high-precision imaging, the airborne multi-task remote sensing payload high-precision earth observation s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 宫晓琳刘刚张建旭房建成张帅
Owner BEIHANG UNIV
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