Median filtering based optimized coarse alignment method for resistance to external velocity outliers

A coarse alignment and speed technology, which is applied in the direction of navigation, measurement devices, instruments, etc. through speed/acceleration measurement, can solve problems such as affecting the alignment accuracy, and achieve the goal of improving stability, reducing the amount of calculation, and avoiding the reduction of sensitivity. Effect

Inactive Publication Date: 2018-06-29
HARBIN ENG UNIV
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Problems solved by technology

Due to the limited working conditions and unstable wave speed of DVL, the speed v provided by DVL b There may be a single or a block of outliers. If the speed with outliers is directly used for alignment, it will seriously affect the alignment accuracy

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  • Median filtering based optimized coarse alignment method for resistance to external velocity outliers
  • Median filtering based optimized coarse alignment method for resistance to external velocity outliers
  • Median filtering based optimized coarse alignment method for resistance to external velocity outliers

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Embodiment Construction

[0069] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0070] to combine Figure 1 to Figure 9 , in the present invention, it is first necessary to pre-judge the external speed information provided by the log, and carry out median filter processing on the outlier points; then the processed external speed v of the log b , specific force f of acceleration output b and the angular velocity output by the gyroscope It is used to construct the observation vector; finally, the rough alignment assisted by the external velocity is completed through the 'optimized alignment algorithm, and the attitude matrix at the current moment is obtained

[0071] Figure 5 Optimizing Coarse Alignment Structure Maps for Improved Median Filtering. Such as Figure 5 As shown, the present invention firstly processes the external speed information provided by the speed log, and judges whether the external sp...

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Abstract

The invention provides a median filtering based optimized coarse alignment method for resistance to external velocity outliers. According to the method, improved median filtering is adopted for processing the external velocity outliers, and coarse alignment is completed. The method comprises steps as follows: firstly, a time-varying attitude matrix (shown in the description) of a navigation systemand a time-varying attitude matrix (shown in the description) of a carrier system are calculated with a quaternion upgrading method; external velocity provided by a velocity log is processed according to the improved median filtering, measurement vectors are upgraded according to external velocity information obtained after filtering and output of an inertial device, then an attitude matrix (shown in the description) from the carrier system to the navigation system at the initial moment is estimated with an optimized alignment algorithm, finally, an initial attitude matrix (shown in the description) at any moment tk is calculated according to the obtained attitude matrixes (shown in the description), and initial alignment is completed.

Description

technical field [0001] The invention relates to a strapdown inertial navigation system (SINS) initial alignment method, in particular to an optimized coarse alignment method based on median filtering to resist external velocity outliers, and belongs to the technical field of initial alignment of a moving base. Background technique [0002] With the development of inertial technology, strapdown inertial navigation system has gradually become the mainstream and development direction of inertial technology due to its low cost, small size, simple structure and high reliability. As one of the key technologies of strapdown inertial navigation system, initial alignment technology directly affects the navigation accuracy of the navigation system. The initial alignment is generally divided into two stages, the coarse alignment stage and the fine alignment stage. The coarse alignment mainly provides the initial attitude error angle within a certain accuracy range for the fine alignmen...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/16
Inventor 张勇刚罗莉方涛黄玉龙李宁
Owner HARBIN ENG UNIV
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