Partial feedback filter method for integrated navigation system

A combined navigation system and partial feedback technology, applied in the field of navigation algorithms, can solve problems such as filter failure, variance matrix distortion, and difficulty in real-time adjustment of filters, and achieve strong adaptability and improved accuracy

Inactive Publication Date: 2019-03-15
SHAANXI AEROSPACE TIMES NAVIGATION EQUIP CO LTD
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Problems solved by technology

However, if the Kalman filter modeling is inaccurate or interference occurs, it is difficult to adjust the filter estimation in real time, and it is prone to serious distortion or even overflow of the variance matrix, which will eventually lead to filtering failure and loss of integrated navigation function

Method used

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  • Partial feedback filter method for integrated navigation system
  • Partial feedback filter method for integrated navigation system
  • Partial feedback filter method for integrated navigation system

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specific Embodiment

[0020] Specific embodiments: the integrated navigation system adopts linear Kalman filter to filter the observations, and it is necessary to establish the Kalman filter state transition equation and measurement equation of the integrated navigation.

[0021] (1) State transition equation

[0022] X=[φ e φ n φ u δV e δV n δV u δL δλ δH ε x ε y ε z ▽ x ▽ y ▽ z ] T

[0023] The error of the inertial navigation output parameters is taken as the state estimator, and the parameters are: 3 inertial navigation platform angle errors, 3 receiver velocity errors, 3 receiver position errors, 3 gyroscope three-axis zero bias errors and 3 Accelerometer three-axis zero bias error, a total of 15 state estimation parameters.

[0024] (2) Measurement equation

[0025] In integrated navigation, the difference between the positioning and speed-fixing results given by the GPS receiver and the positioning and speed-fixing results of the inertial navigation system is used a...

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Abstract

A partial feedback filter method for an integrated navigation system involves a GPS receiver, an inertial navigation system and an integrated filter. The method comprises the following steps: treatingthe speed and location information error of the GPS receiver and the inertial navigation system as kalman filter estimation value; multiplying kalman filter estimation value by a number factor a through an integrated filter; then feeding back to the inertial navigation system for parameter correction; converting a primary attitude matrix and a quaternion through the inertial navigation system toobtain a primary quaternion matrix; outputting and correcting the primary quaternion matrix of the inertial navigation system through the integrated filter; and calculating the output result of the integrated navigation system. With the adoption of the method, the location output accuracy of the navigation system is improved; the kalman filter variance matrix is limited; the output result is out of distortion; and the adaptability is improved.

Description

technical field [0001] The invention relates to the technical field of navigation algorithms, in particular to a partial feedback filtering method used in an integrated navigation system. Background technique [0002] The integrated navigation algorithm is the core technology in the integrated navigation system, which not only determines whether the function of the entire navigation system can be realized, but also plays a decisive role in the performance of the entire integrated navigation system. [0003] The integrated navigation algorithm generally uses the Kalman filter to estimate and eliminate the system error from the perspective of optimal probability and statistics. During the integrated navigation process, the state estimation value of the Kalman filter needs to be continuously fed back to the inertial navigation system for inertial navigation correction. The traditional feedback method is: select some states to participate in the feedback, feed back the estimated...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王伟东
Owner SHAANXI AEROSPACE TIMES NAVIGATION EQUIP CO LTD
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