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GPS/SINS/CNS integrated navigation method based on five-order CKF

A technology of integrated navigation and integrated navigation system, which is applied in the field of SINS/GPS/CNS integrated navigation based on fifth-order CKF, and can solve the problem that the heading error estimation must be stable.

Active Publication Date: 2016-07-06
SOUTHEAST UNIV
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Problems solved by technology

The CNS system can provide accurate attitude angle information, which can improve the measurement accuracy of the attitude angle after being combined. However, due to the limitation of objective conditions, it can only provide heading information intermittently, which requires that the heading error be reduced within the time interval when there is no heading information. Estimates must be stable

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  • GPS/SINS/CNS integrated navigation method based on five-order CKF
  • GPS/SINS/CNS integrated navigation method based on five-order CKF
  • GPS/SINS/CNS integrated navigation method based on five-order CKF

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Embodiment Construction

[0160] The present invention will be further described below in conjunction with the accompanying drawings.

[0161] Such as Figure 9 and Figure 10 Shown is a system scheme diagram and a navigation principle diagram of the present invention.

[0162] The SINS strapdown settlement module collects the gyroscope output value and the accelerometer output value output by the inertial measurement unit (IMU) module for strapdown calculation, and obtains information such as attitude angle, attitude matrix, speed, and position; the GPS device outputs the speed information of the carrier ; The CNS equipment outputs attitude information, SINS and GPS, and the information output by CNS is input to the fifth-order CKF filter at the same time, and the information is filtered. The filtering process is as follows:

[0163] 1. According to the characteristics of SINS / GPS / CNS integrated navigation, select the 12-dimensional state vector:

[0164] x = ...

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Abstract

The invention discloses a GPS / SINS / CNS integrated navigation method based on a five-order cubature kalman filter (CKF).The method is characterized by comprising the steps of 1, establishing an integrated navigation system non-linear error equation and a linear measurement equation based on a SINS error equation; 2, establishing the five-order CKF by means of the five-order spherical surface radial cubature rule; 3, filtering and fusing information output by a SINS, a GPS and a CNS by means of the five-order CKF to obtain the optimal estimation of navigation parameters.

Description

technical field [0001] The invention relates to the technical field of strapdown inertial navigation and integrated navigation, in particular to a fifth-order CKF-based SINS / GPS / CNS integrated navigation method. Background technique [0002] In the SINS / GPS / CNS integrated navigation system, GPS can provide accurate speed information at any time, so the speed error of strapdown inertial navigation can be controlled within the precision range of GPS through the combined system. The CNS system can provide accurate attitude angle information, which can improve the measurement accuracy of the attitude angle after being combined. However, due to the limitation of objective conditions, it can only provide heading information intermittently, which requires that the heading error be reduced within the time interval when there is no heading information. Estimates must be stable. Based on the above reasons, it is necessary to introduce a more advanced filtering algorithm into the inte...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S19/48G01S19/49
CPCG01C21/165G01S19/48G01S19/49
Inventor 徐晓苏刘心雨孙进杨博王捍兵
Owner SOUTHEAST UNIV
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