Step fusion apparatus and method for multi-rate sensor with packet loss phenomenon

Abstract

The invention relates to a step fusion apparatus and method for a multi-rate sensor with a packet loss phenomenon. The apparatus comprises 1-N subsystems and a central fusion unit, wherein each subsystem consists of a detection unit, a filter, a switching unit and a conversion controller; the detection unit detects an observation value; the filter unit performs state estimation on a motion parameter of a hovercraft through the observation value; the switching unit is used for determining whether the subsystems are used to perform fusion; and the central fusion unit performs further fusion on the selected subsystems. According to the step fusion apparatus and method, the subsystems participating in fusion are automatically adjusted, so that not only the flexibility of a motion parameter fusion policy of the hovercraft but also the environmental adaptability of the hovercraft can be improved; and the fusion method can well alleviate the phenomenon of inaccurate and even diverged estimation of the motion parameter of the hovercraft caused by the packet loss phenomenon, and has relatively high fusion precision.

Description

technical field [0001] The invention relates to a motion parameter data fusion method of a hovercraft, in particular to a multi-rate sensor hierarchical fusion method with packet loss phenomenon. Background technique [0002] A hovercraft is a special new type of modern ship capable of high-speed navigation. Due to the low resistance when sailing, the sailing speed can reach 200km / h. Navigation mainly depends on the centripetal force generated by the air flow, which is generally small. Therefore, under the influence of wind and waves, if the motion parameters are not estimated properly, it will easily cause overshooting of the control, and seriously cause side drift or capsize. [0003] In practice, when the hovercraft is sailing on the sea surface, due to the influence of the wave disturbance, the weather conditions are relatively complex, and the motion parameters such as pitch and heel will fluctuate greatly, and the speed of the hovercraft is generally fast, so it is di...

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Problems solved by technology

Navigation mainly depends on the centripetal force generated by the air flow, which is generally small. Therefore, under the influence of wind and waves, if the motion parameters are not estimated properly, it will easily cause overshooting of the control, and seriously cause side drift or capsize

[0003] In practice, when the hovercraft is sailing on the sea surface, due to the influence of the wave disturbance, the weather conditions are relatively complex, and the motion parameters such as pitch and heel will fluctuate greatly, and the speed of the hovercraft is generally fast, so it is difficult to timely understand these parameters. exact estimate

[0004] The transmission of sensor measurement data in a complex environment is prone to data loss, that is, packet loss. The current hovercraft kinematics equation has not considered this phenomenon, and there is no effective method to deal with packet loss. Moreover, the traditional fusion method, if the observation data is lost for a long time, it will increase the estimation error and even cause divergence

[0005] At the same time, due to the complexity of the environment, the use of a single sensor is easily affected by correlation interference, which increases the error of the estimated value of the motion parameters. In view of this problem, an effective fusion mechanism has not been established to overcome the correlation band. to the impact

There is also no establishment of a data fusion method that can be effectively applied to the motion parameters of the hovercraft

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