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A method for asynchronous data fusion of monitoring and navigation systems based on subdivided time slices

A technology for subdividing time slices and navigation systems, applied in the field of monitoring and navigation, can solve problems affecting the accuracy of monitoring and navigation systems, achieve the effects of improving accuracy, suppressing the impact of system accuracy, and improving positioning accuracy

Active Publication Date: 2021-02-19
HARBIN INST OF TECH
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Problems solved by technology

However, in this monitoring and navigation system, due to the difference in the inherent data update rate and propagation delay between the cold atom interference gyroscope and the fiber optic gyroscope, the two information sources are asynchronous, which affects the accuracy of the monitoring and navigation system.

Method used

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  • A method for asynchronous data fusion of monitoring and navigation systems based on subdivided time slices
  • A method for asynchronous data fusion of monitoring and navigation systems based on subdivided time slices
  • A method for asynchronous data fusion of monitoring and navigation systems based on subdivided time slices

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Embodiment Construction

[0032] The present invention will be described in detail below in conjunction with specific implementation examples.

[0033] The present invention provides an asynchronous data fusion method based on subdivided time slice cold atom interference gyroscope / optical fiber gyroscope monitoring and navigation system, the schematic diagram of the method is as follows figure 1 shown. The object of the present invention is achieved through the following steps:

[0034] 1. Fix the cold atom interference gyroscope-fiber optic gyroscope monitoring and navigation system on the ship, fully warm up the cold atom interference gyroscope-fiber optic gyroscope monitoring and navigation system, start working, and collect the sensing data of each sensor ;

[0035] 2. Fully consider the nonlinear characteristics of the actual system, take the fiber optic gyro inertial navigation system as the main system, and establish the nonlinear state equation of the cold atom interference gyroscope-fiber op...

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Abstract

The present invention proposes an asynchronous data fusion method based on the cold atom interference gyroscope / optical fiber gyroscope monitoring and navigation system. The method first establishes a nonlinear filtering model of the cold atom interference gyroscope / fiber optic gyroscope monitoring and navigation system, and utilizes the volumetric Karl Mann filter estimates the system state and eliminates the influence of system nonlinearity on the positioning error of the monitoring and navigation system; secondly, the subdivision time slice method is used to enhance the utilization of multi-sensor information, thereby significantly improving the accuracy and reliability of the ship's autonomous navigation , to extend the external readjustment interval of the ship's inertial navigation system.

Description

technical field [0001] What the present invention designs is a kind of monitoring and navigating method, more precisely, is to use subdivided time slice method to deal with the problem that two kinds of gyroscope data are not synchronized in cold atom interference gyroscope / fiber optic gyroscope monitoring and navigating system, thereby improve the inertia A navigation method of the positioning accuracy of the navigation system. Background technique [0002] In ship navigation, inertial navigation plays an important role. As a fully autonomous navigation and positioning technology, it has the advantages of all-weather, good concealment, not easy to be interfered, and strong survivability. The inertial navigation system (Inertial Navigation System, INS) relies on the inertial components (gyroscope and accelerometer) to detect the motion state of the carrier in real time, and outputs the navigation information such as the speed, position and attitude of the carrier through na...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18
CPCG01C21/18
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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