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Dynamic distribution and corrected multi-source information fusion method based on factor graph

A technology of multi-source information fusion and dynamic allocation, which is applied to satellite radio beacon positioning systems, measuring devices, instruments, etc.

Active Publication Date: 2019-06-14
HARBIN ENG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the problem of the decrease of navigation accuracy caused by measurement output hysteresis and the increase of navigation calculation burden caused by the change of available types of sensors in the multi-sensor integrated navigation system

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  • Dynamic distribution and corrected multi-source information fusion method based on factor graph
  • Dynamic distribution and corrected multi-source information fusion method based on factor graph
  • Dynamic distribution and corrected multi-source information fusion method based on factor graph

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Embodiment Construction

[0083] The present invention will be further described below in conjunction with the accompanying drawings. Effect of the present invention can be illustrated by following simulation:

[0084] The present invention particularly relates to the problems of the dynamic change of available sensor output and measurement hysteresis in the navigation system, and the complex calculation and insufficient precision of the traditional filtering algorithm. and get more precise navigation parameters.

[0085] Step 1: Build a mathematical model of the navigation system

[0086] 1. System equations

[0087] Select the 15-dimensional state quantity of the system according to the indirect method:

[0088]

[0089] in, is the attitude angle error; δV=[δV e δV n δV u ] T is the speed error; δp=[δL δλδh] T is the position error; b g =[b gx b gy b gz ] T is the gyro constant drift; b a =[b ax b ay b az ] T Accelerometer constant bias.

[0090] The systematic error mod...

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Abstract

The invention belongs to the technical field of multi-sensor fused navigation and the technical field of time registration, and in particular relates to a dynamic distribution and corrected multi-source information fusion method based on a factor graph. The invention aims at the problems that a modern navigation system is increasingly complex in application environment, discontinuous in working time of sensor and sporadic in measured value, and even has output delays; and a traditional fast federated filtering algorithm is complex in computation and reduced in accuracy when being applied to processing a measurement delay problem. According to the method provided by the invention, a factor graph probability model is used for re-building a navigation system, the computation amount is reducedwhile the navigation accuracy is ensured when a measurement type is dynamically changed, the plug and play property of the system is improved, aiming at the measurement delay problem, the retardationof the multiple pieces of sensor information is compensated, and the measurement information usage rate and navigation accuracy are improved. A simulation result indicates that when the provided algorithm is used for measuring the value, the better robustness and fault tolerance are achieved under the condition of intermittence and output delay, and meanwhile the accuracy is also improved.

Description

technical field [0001] The invention belongs to the field of navigation technology and time registration technology of multi-sensor fusion, and in particular relates to a method for dynamically allocating and correcting multi-source information fusion based on a factor graph. Background technique [0002] The vigorous development of sensor technology is the main reason for the increasing abundance of contemporary navigation methods. The emergence of various high-resolution and high-reliability sensors makes the development of navigation systems particularly rapid. Among them, satellite navigation is widely used with high precision and high coverage. In the military and civil fields, the positioning, navigation and timing provided by the satellite navigation system, Position Navigation and Timing, PNT, service is very important, it provides users with a Spatio-temporal reference datum. However, in the context of practical applications, there are many factors in GPS interfere...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16G01S19/45G01S19/47
Inventor 王伟贾通李欣黄平
Owner HARBIN ENG UNIV
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