Adaptive UKF algorithm navigation method and system thereof

Abstract

The invention provides an adaptive UKF algorithm navigation method and a system thereof. The method comprises: inertial sensor raw data are collected; positioning information of an inertial navigationsystem is updated; GPS positioning information is searched and collected and the reliability of a satellite signal is determined; when the number of satellites is greater than 4 and the HDOP value isabout 1, a GPS / INS combined navigation mode is triggered; otherwise, a neural network prediction correction mode is triggered; compensation correction is carried out on the positioning information output by the inertial navigation system; an error covariance matrix is updated adaptively; a neural network training sample is stored and the nerve network structure parameters are trained and updatedand the like. According to the invention, the system noises of the UKF filter system are adjusted adaptively and the noise covariance matrix is measured under the condition that the satellite signal is normal, so that problems that the filtering precision reduction and divergence are caused by the unclear or inaccurate statistical characteristics of the system noise are solved.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a navigation method and system of an adaptive UKF algorithm. Background technique [0002] The integrated navigation system based on MEMS inertial sensor devices and GPS (Global Position System) has the advantages of small size, low power consumption, high reliability and low price, so it is widely used in vehicle navigation and positioning, UAV flight control and navigation, etc. fields. However, limited by the low precision of the MEMS inertial device used in the strapdown inertial navigation system and the problem of error accumulation, only relying on inertial navigation when the satellite signal is lost or the signal is weak will cause the positioning error to diverge sharply, resulting in positioning failure . Experts and scholars at home and abroad have conducted research on this and put forward various solutions. The RBF (Radial Baisi Function) assisted AKF (Adaptiv...

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Problems solved by technology

[0003] In order to solve the above technical problems, the present invention provides a navigation method and system of an adaptive UKF algorithm, which uses the global artificial bee colony algorithm to optimize the RBF neural network, and then cooperates with the noise to update the adaptive UKF algorithm with adjustable sampling window width , in order to improve the accuracy of integrated navigation and positioning when the satellite signal is normal, and train the neural network, and use the trained neural network to predict the output to suppress the divergence of position and speed errors when the satellite is out of lock

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