Multi-rate sensor hierarchical fusion device and method with packet loss phenomenon

Abstract

The invention relates to a multi-rate sensor hierarchical fusion device and method with packet loss phenomenon. It includes 1 to N subsystems and a central fusion unit. Each subsystem is composed of a detection unit, a filter, a switching unit and a conversion controller. The detection unit detects the observed value, and the filtering unit performs state estimation on the motion parameters of the hovercraft through the observed value. The switching unit is used to judge whether to use the subsystem for fusion, and the central fusion unit further fuses the selected subsystem. The invention can not only improve the flexibility of the fusion strategy of the motion parameters of the hovercraft by automatically adjusting the subsystems participating in the fusion, but also improve the environmental adaptability of the hovercraft, and the fusion method can well reduce the estimation of the motion parameters of the hovercraft caused by the phenomenon of packet loss Inaccurate or even divergent phenomena, with high fusion accuracy.

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...

AI Technical Summary

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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