Hybrid derivative-free expansion Kalman filter-based ultra short base line/ strapdown inertial navigation system (USBL/SINS) tight combined navigation positioning method

Abstract

The invention provides a hybrid derivative-free expansion Kalman filter-based USBL / SINS tight combined navigation positioning method particularly applicable to positioning of underwater equipment. Thehybrid derivative-free expansion Kalman filter-based USBL / SINS tight combined navigation positioning method involves a USBL acoustic positioning system and an SINS, and combined navigation is performed by a hybrid derivative-free expansion Kalman filter (HDEKF). The method comprises the steps of firstly, obtaining a slope distance measurement value between a transponder and a hydrophone by the USBL system through calculating one-way propagation time of an ultrasonic wave signal between the transponder and the hydrophone, and obtaining an observation equation by a coordinate conversion formula; secondly, building an error state equation according to an error transfer formula of the SINS; and finally, performing hybrid derivative-free expansion Kalman filtering, performing time updating bya standard linear Kalman filter, and performing measurement updating by a derivative-free expansion filter. By the method, the navigation accuracy and the stability of the USBL / INS combined navigationsystem can be effectively improved, and the real-time calculation quantity is reduced.

Description

technical field [0001] The invention relates to a USBL / SINS tight combined navigation and positioning method based on hybrid non-derivative extended Kalman filter, which is especially suitable for the positioning of underwater equipment, and the calculation amount of the algorithm is smaller than that of general extended Kalman filter. Background technique [0002] With the development of science and technology, people pay more and more attention to the development of marine resources and are more and more interested in underwater equipment. Underwater equipment is widely used in various underwater detection tasks, such as environmental detection, underwater inspection of ports, geological and biological surveys, etc. Commonly used underwater equipment, including various types of underwater robots and submarines. The broad application prospect of underwater equipment has aroused great concern of scientists from all over the world. [0003] Underwater equipment, like land e...

AI Technical Summary

Problems solved by technology

However, the unscented Kalman filter has a huge amount of calculation, and it is difficult to be used in the integrated navigation system with high real-time requirements.

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