Integrated navigation method based on fault-tolerant Kalman filtering

A Kalman filter and Kalman filter technology, applied in the field of integrated navigation, can solve problems such as fault tolerance performance to be improved, weak anti-interference ability, etc., and achieve the effect of improving the utilization degree and improving the robust performance.

Active Publication Date: 2019-02-22
HARBIN ENG UNIV
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Problems solved by technology

[0005] There are many literatures about fault tolerance and federated Kalman, among which Zhang Hailong et al. "Optimized Design of Federated Kalman Filter in Strapdown Inertial Navigation/Global Positioning/Odometer Integrated Navigation System" (Journal of Detection and Control, 2009), Wang Peng et al. "Research on the Filtering Algorithm for Ship Integrated Navigation of Inertial Navigation System/Global Positioning System/Doppler Log" (Science Techn

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  • Integrated navigation method based on fault-tolerant Kalman filtering
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  • Integrated navigation method based on fault-tolerant Kalman filtering

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Specific embodiment one:

[0061] The purpose of the present invention is to provide an integrated navigation method based on fault-tolerant Kalman filtering. It is aimed at the SINS / GPS / Doppler multi-integrated navigation system. The structure diagram of the system is as follows figure 1 Shown. among them figure 2 For the federated Kalman filter structure with reset and image 3 It is a federated Kalman filter structure without reset. The present invention is optimized on the structure of a federated Kalman filter without reset, and a fault-tolerant Kalman filter and a fault detection function are added to one of the sub-filters.

[0062] The technical scheme adopted by the present invention includes the following steps:

[0063] Step 1, choose As a state variable,

[0064] among them: δλ: Inertial navigation system latitude and longitude error;

[0065] δV x ,δV y : The speed error of the inertial navigation system in the east and north directions of the geographic coordinate s...

Example Embodiment

Specific embodiment two:

[0116] The purpose of the present invention is to provide an integrated navigation method based on fault-tolerant Kalman filtering. Aiming at the SINS / GPS / Doppler multi-integrated navigation system, the technical scheme adopted by the present invention includes the following steps:

[0117] Step 1, choose As a state variable,

[0118] among them: δλ: Inertial navigation system latitude and longitude error;

[0119] δV x ,δV y : The speed error of the inertial navigation system in the east and north directions of the geographic coordinate system;

[0120] ε x ε y ε z : Random error of first-order Markov process of gyro;

[0121] αβλ: platform error angle of east, north and sky direction of strapdown inertial navigation in geographic coordinate system;

[0122] Then, according to the system characteristics, list the state equation of the system:

[0123] The SINS / GPS subsystem selects position and speed as quantity measurement,

[0124] which is

[0125] Where: ...

Example Embodiment

Specific embodiment three:

[0164] The invention discloses an integrated navigation method based on fault-tolerant Kalman filtering. This method is aimed at an inertial / satellite / Doppler integrated navigation system, which consists of two sub-filters and a main filter. The invention carries out a fault-tolerant design for the inertial / satellite navigation subsystem, and adds a fault-tolerant Kalman filter to improve its anti-interference ability. When the system state model and the prior information are known, the conventional Kalman filter is first used for state estimation, and then a fault detection is performed. When there is no fault, it is directly sent to the main filter for data fusion; if a fault occurs, The fault-tolerant Kalman filter is used to replace the sub-filter, and return to the fault point to perform state estimation again. The output data undergoes a fault detection again, and when there is no fault, it is sent to the main filter for data fusion. When the...

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Abstract

The invention discloses an integrated navigation method based on fault-tolerant Kalman filtering and belongs to the technical field of integrated navigation. The method comprises the following steps:selecting an integrated navigation state quantity to write a state equation, selecting a measuring quantity to write a measuring equation and carrying out discretization; constructing a conventional Kalman filterer for state estimation; constructing a fault detection function for detecting faults; constructing a fault-tolerant Kalman filer to estimate the state; feeding data of sub filters to a primary filter for information fusion to obtain global state estimation; and correcting a navigation parameter output by an inertial navigation system by means of an estimated value of global error of federated kalman. By adding a fault detection link and a fault-tolerant Kalman filter for an SINS/GPS sub system isolated as a result of faults, once the faults happen, fault points are returned to carry out fault-tolerant Kalman filtering again. Therefore, the utilization degree of sub system data is improved, so that the robust performance of the whole system is improved.

Description

technical field [0001] The invention belongs to the technical field of integrated navigation, and in particular relates to an integrated navigation method based on fault-tolerant Kalman filtering. Background technique [0002] Modern science and technology have been able to provide a variety of navigation equipment for the vehicle, such as inertial navigation system (INS), Doppler (Doppler) radar navigation system, global positioning system (GPS). Each of these navigation devices has advantages and disadvantages, and varies widely in accuracy and cost. Among them, the inertial navigation system is an autonomous navigation system that does not rely on external information and does not radiate energy, and can provide a variety of navigation parameters (position, speed, attitude). As a kind of inertial navigation system - strapdown inertial navigation system (SINS) is being used more and more widely. Properly combining the inertial navigation system with other navigation syst...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S19/49
CPCG01C21/165G01S19/49
Inventor 吴磊姜南奔粤阳王坤王禹王贵创胡泽生展浩刘明旭陈海南
Owner HARBIN ENG UNIV
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