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Monitoring navigation method based on bilateral filtering

A technology of two-way filtering and navigation method, applied in the field of navigation, can solve the problems of system nonlinear system noise, unknown, etc., to achieve the effect of improving accuracy and applicability, suppressing influence, and improving accuracy

Inactive Publication Date: 2018-04-10
HARBIN INST OF TECH
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Problems solved by technology

[0007] The purpose of the present invention is to provide a monitoring and navigation method based on two-way filtering to solve the problems of system nonlinearity and unknown system noise in the monitoring and navigation system, so as to meet the high-precision navigation and positioning accuracy requirements of the carrier

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  • Monitoring navigation method based on bilateral filtering
  • Monitoring navigation method based on bilateral filtering
  • Monitoring navigation method based on bilateral filtering

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Embodiment Construction

[0022] Below in conjunction with specific implementation case, the present invention is described in detail, and the schematic flow sheet of the present invention is as follows figure 1 shown.

[0023] 1. Install the measurement sensors of the monitoring and navigation system and the sensors carried by the carrier itself. Among them, the odometer is installed to measure the movement of the carrier. Two laser radars are used as observation sensors to observe the movement of the carrier in real time, and provide radar and Angle information between carriers; fully warm up each sensor in the monitoring and navigation system, and collect data from each sensor.

[0024] 2. Fully consider the nonlinear characteristics of the actual system, and establish the nonlinear state equation and measurement equation of the nonlinear monitoring and navigation system:

[0025]

[0026] where f(x k-1 ) and h(x k ) are the known nonlinear state and measurement function respectively, and the ...

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Abstract

The invention provides a monitoring navigation method based on bilateral filtering. According to the monitoring navigation method based on bilateral filtering, a Cubature Kalman Filter (CKF) nonlinearfilter and Rauch-Tung-Striebel (RTS) backward smoothing algorithm are adopted in monitoring navigation algorithm; firstly, CKF is adopted for filtering of the states of a monitoring navigation system, then RTS backward smoothing algorithm is adopted to obtain a predicted value of a monitoring system at a former moment based on the current filtering results, the observing value of the former moment is adopted for measuring updating of the monitoring system, and at last CKF filtering is adopted to estimation of the states of the current movement. The monitoring navigation method is capable of solving the non-linear problem and the system noise nondeterminacy problem of the monitoring navigation system, and increasing the navigation positioning precision of the monitoring navigation system.

Description

technical field [0001] The present invention designs a monitoring and navigation method based on two-way filtering. More precisely, it uses an improved two-way filtering algorithm to solve the problems of system nonlinearity and unknown system noise in the monitoring and navigation system, thereby improving the positioning accuracy of the monitoring and navigation system. A method of navigation. Background technique [0002] In the theory of multi-sensor information fusion, the redundant and complementary information in the measurement of multiple sensors can be used to effectively improve the system accuracy through multi-source information fusion technology. Therefore, according to the technical characteristics of different sensors, rational configuration of multi-sensor, Realize complementary advantages, form a monitoring and navigation system, and realize correction of system state errors, which can significantly improve the accuracy of the navigation system. [0003] I...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 张亚王国臣王岩岩于飞王凯赵桂玲
Owner HARBIN INST OF TECH
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