Application method of improved trackless Kalman filtering algorithm to underwater integrated navigation

Abstract

The invention provides an application method of an improved trackless Kalman filtering algorithm to underwater integrated navigation. The application method comprises the following steps: defining a coordinate system required to be used; establishing a state equation of an SINS / DVL subsystem at the underwater submersible stage; establishing a measurement equation of the SINS / DVL subsystem at the underwater submersible stage; establishing a state equation of the SINS / DVL subsystem at the water surface position correction stage; establishing a measurement equation of the SINS / DVL subsystem at the water surface position correction stage; establishing a nonlinear filtering equation at the underwater submersible stages; after a period of underwater diving, an AUV emerges from the water surface,the nonlinear filtering equation at the water surface position correction stages is established, an improved unscented Kalman filter solution is performed, the time update, the measurement update andthe filter update are completed, and the timing position information correction is completed. The application method provided by the invention has the benefits that the filtering settlement efficiency and the navigation accuracy of an underwater integrated navigation system can be improved, the complexity of filtering algorithm calculation is reduced, and the real time and the stability are ensured.

Description

technical field [0001] The invention belongs to the field of inertial navigation and relates to an application method of an improved unscented Kalman filter algorithm in underwater integrated navigation SINS / DVL / GPS. Background technique [0002] Autonomous Underwater Vehicle (AUV) has a wide range of applications in both civilian and military applications. Military aspects such as theater reconnaissance, mine detection, submarine confrontation, maritime early warning to block routes or ports, attacking enemy ships or submarines, destroying oil facilities and communication networks, underwater relay communications, etc.; civilian aspects such as marine resource exploration and development, Marine rescue and salvage, etc. As far as the current development is concerned, the navigation problem is still one of the main technical challenges faced by AUVs. The navigation system must provide long-term accurate attitude, heading, speed and position information, and precise navigat...

AI Technical Summary

Problems solved by technology

However, for underwater vehicles, they need to surface to receive GPS signals, and they cannot float on the water surface for a long time for concealment, so GPS can only be used as a correction system

In addition, since the AUV integrated navigation system has nonlinear characteristics in nature, the extended Kalman filter (EKF) is traditionally used to linearize the nonlinear model. The growth of the navigation accuracy is difficult to be guaranteed, and the Jacobian matrix of the system equation is repeatedly calculated during the calculation process, which increases the amount of filtering calculations

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