Integrated navigation method and equipment based on multisource information fusion

A multi-source information fusion and integrated navigation technology, applied in the field of integrated navigation methods and equipment, can solve the problems of GNSS receiver integrity limited satellite geometric distribution, algorithm optimization is difficult to meet requirements, and satellite failure cannot be locked

Inactive Publication Date: 2016-07-13
ZHONGWEI IOT CHENGDU TECH CO LTD
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Problems solved by technology

Assuming that only one satellite fails, when five satellites are observed, the redundant information between pseudoranges can be used to detect that there is an unacceptable positioning error in the GNSS receiver for the current flight stage, but because there is no other information, at this time Although an out-of-tolerance alarm can be given, it cannot be locked which satellite is faulty; only when more than

Method used

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  • Integrated navigation method and equipment based on multisource information fusion
  • Integrated navigation method and equipment based on multisource information fusion
  • Integrated navigation method and equipment based on multisource information fusion

Examples

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no. 1 example

[0122] The applicant provides a combined navigation architecture based on multi-source information fusion through in-depth analysis of the data sources and relevance of the navigation system, such as figure 1 As shown, it includes a navigation-related multi-source information system and a federated filter for fusion processing of multi-source information. Among them, navigation-related multi-source information systems include but are not limited to one or more of the following: global satellite navigation system GNSS, inertial navigation system INS, multi-mode area differential augmentation system MLDAS, barometric altimeter and timekeeping equipment.

[0123] The selected multi-source information of the present invention will be analyzed below:

[0124] (1) Inertia assist can be used to improve airborne integrity

[0125] Inertial navigation has the ability to independently output carrier navigation information and attitude information without electromagnetic interference. I...

no. 2 example

[0283] Such as Figure 6 As shown, the embodiment of the present invention also provides a combined navigation method based on multi-source information, using the combined navigation device provided in Embodiment 1 to obtain multi-source navigation information, based on the respective characteristics of the multi-source information and the complementarity between each other, Improve the integrity of the GNSS navigation system, the method includes:

[0284] Step S601: Obtain multi-source navigation information, including obtaining from one or more of the global satellite navigation system GNSS, inertial navigation system INS, multi-mode area differential augmentation system MLDAS, barometric altimeter and timekeeping equipment installed on the aircraft navigation related information;

[0285] Step S602: Input each type of multi-source navigation information and a reference signal into a local filter;

[0286] Step S603: Trigger each local filter to calculate the local estimat...

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Abstract

The invention provides an integrated navigation method and equipment based on multisource information fusion. The method comprises the following steps: obtaining multisource navigation information, namely obtaining navigation related information from one or more of a global satellite navigation system GNSS, an inertial navigation system INS, a multimode region difference augmentation system MLDAS, a pressure altimeter and timekeeping equipment, which are arranged on an aircraft; performing fusion treatment on multisource information by using a federal wave filter, wherein the federal wave filter comprises a main wave filter and a plurality of local wave filters connected with the main wave filter, and each kind of the multisource navigation information and a reference signal are jointly input to one local wave filter; triggering the local wave filters to respectively calculate local estimation values and error covariance matrixes; triggering the main wave filter to perform wave filtering on the reference signal, and performing optimal infusion on the wave filtering results of the reference signal according to output results of the local wave filters and the local wave filters, so as to obtain a global optimum estimation value. Therefore, the availability and the integrity of on-board navigation equipment are improved.

Description

technical field [0001] The invention belongs to the technical field of navigation, in particular to a combined navigation method and device. Background technique [0002] With the popularization of technology and its application, the global satellite navigation system (GNSS) receiver has become one of the core components of airborne electronic equipment. The performance of GNSS receivers is generally evaluated by four aspects: accuracy, integrity, continuity and availability. Among them, the integrity is mainly a requirement for the safety of the receiver in the application, so in the application with high safety requirements, the integrity is the key problem that must be solved. [0003] Integrity is generally defined as: Integrity is a probability. In a certain period of time, at any point in the system coverage area, the position error does not exceed the alarm threshold (AlarmLimit), and the user is not given the probability of sending alarm information within the alarm...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S19/47
CPCG01C21/165G01S19/47
Inventor 高锋谭双福衡国彬徐靖然唐富春
Owner ZHONGWEI IOT CHENGDU TECH CO LTD
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