Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Adaptive Kalman filtering method of vehicle-mounted microinertia/satellite integrated navigation system

An integrated navigation system, adaptive Kalman technology, applied in satellite radio beacon positioning system, navigation through speed/acceleration measurement, navigation calculation tools, etc., can solve the problems of reducing the calculation amount of traditional adaptive filtering, etc., and achieve improvement The effect of positioning accuracy

Active Publication Date: 2018-01-23
SOUTH CHINA UNIV OF TECH
View PDF8 Cites 31 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method can not only significantly improve the traditional Kalman filter divergence caused by inaccurate or divergent noise statistical information, but also reduce the calculation amount of traditional adaptive filtering, ensure the positive definiteness of the noise matrix, and effectively improve the accuracy and robustness of integrated navigation.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Adaptive Kalman filtering method of vehicle-mounted microinertia/satellite integrated navigation system
  • Adaptive Kalman filtering method of vehicle-mounted microinertia/satellite integrated navigation system
  • Adaptive Kalman filtering method of vehicle-mounted microinertia/satellite integrated navigation system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0083] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings and examples, but the implementation and protection of the present invention are not limited thereto.

[0084] Such as figure 1 , Step 1: Taking attitude error, velocity error, latitude and longitude error, gyroscope error, and accelerometer error as state variables, using the difference between the position information and velocity information provided by the GPS system and the position and velocity information provided by micro-inertial navigation as the observation Variables, establish the state equation and measurement equation of the integrated navigation system

[0085] x k = Φ k / k-1 x k-1 +w k-1

[0086] z k =H k x k +v k

[0087] x k is the state matrix, z k is the measurement matrix, Φ k / k-1 is the state transition matrix, H k is the measurement matrix, w k-1 is the system Gaussian white noise, and the system noise va...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an adaptive Kalman filtering method of a vehicle-mounted microinertia / satellite integrated navigation system. By the adaptive Kalman filtering method, when a state estimating error parameter and a measured noise parameter of the integrated navigation system are unknown or time-varying, a measured noise variance matrix and a state noise variance matrix are updated in real time according to measured output and state information while state estimation is performed. An exponential fading memory weighted average method is used for fading influence of the old measured noise and the system noise; moreover, in view of the problem that the noise variance matrix may lose positive definiteness, a sequential filtering method is introduced for the size of each element on a diagonal in the matrix is limited. The adaptive Kalman filtering method is small in calculation amount and high in robustness; and compared with conventional Kalman filtering, the adaptive Kalman filteringmethod has the advantages as follows: by the adaptive Kalman filtering method, the position information, the speed information and the attitude information of a vehicle with higher accuracy can be obtained.

Description

technical field [0001] The invention belongs to the field of intelligent traffic vehicle navigation, and in particular relates to an adaptive Kalman filtering method of a vehicle-mounted micro-inertia / satellite integrated navigation system. Background technique [0002] At present, GPS / INS integrated navigation has been widely used, especially in the military field, but the inertial navigation level inertial sensors that make up the INS (inertial navigation system) are generally relatively expensive, which limits its application in civilians. With the continuous advancement of MEMS (micro-electromechanical systems) technology, low-cost integrated navigation systems have gradually begun to be applied in the civilian field. The Kalman filter, which is widely used in integrated navigation, can only obtain the optimal estimation of the state under the condition that the stochastic dynamic model, structural parameters and noise parameters are known accurately. However, in practi...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G01C21/34G01S19/47
Inventor 胡斌杰何书凡
Owner SOUTH CHINA UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products