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Robust self-adaptive filtering method for surface ship navigation system based on Krein space

A robust self-adaptive, navigation system technology, applied in navigation, surveying and mapping and navigation, navigation computing tools, etc., can solve problems such as system accuracy and reliability degradation

Active Publication Date: 2019-07-05
SOUTHEAST UNIV
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Problems solved by technology

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, aiming at the problem that the accuracy and reliability of the surface ship navigation system are reduced due to the unknown random interference environment in the sea area, a kind of Krein-based SINS / SINS applied to the surface ship navigation system is provided. The robust adaptive filtering method of GNSS integrated navigation, by establishing the H∞ filter of SINS / GNSS integrated navigation in Krein space, can ensure the robustness of surface warship navigation system against external uncertainty perturbation. Correctly estimate and compensate the uncertain perturbation parameters based on information, so as to further improve the reliability of the navigation system, and finally realize the precise positioning of surface ships

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  • Robust self-adaptive filtering method for surface ship navigation system based on Krein space
  • Robust self-adaptive filtering method for surface ship navigation system based on Krein space
  • Robust self-adaptive filtering method for surface ship navigation system based on Krein space

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[0066] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments.

[0067] The present invention provides a kind of robust self-adaptive filtering method of the SINS / GNSS integrated navigation based on Krein space, comprises the following steps:

[0068] S1: According to the linear estimation theory of Krein space and the characteristics of strapdown inertial navigation system (SINS) and global navigation satellite system (GNSS), introduce the uncertainty perturbation parameters, and establish the robust H∞ of SINS / GNSS integrated navigation based on Krein space The filtering equation is as follows:

[0069] S1-1: Establish target secondary form

[0070] Consider a linear discrete perturbed system:

[0071]

[0072] Among them, the subscript j represents the time or the number of iterations; x j Indicates the system state variable; z j Indicates the measured value of the system; μ j 、ν j represent the ...

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Abstract

The invention discloses a robust self-adaptive filtering method for a surface ship navigation system based on a Krein space. The robust self-adaptive filtering method comprises the steps of: introducing an uncertainty perturbation parameter according to a Krein space linear estimation theory and characteristics of a strapdown inertial navigation system and a global navigation satellite system, andestablishing a robust H infinite filtering equation of SINS / GNSS combined navigation based on the Krein space; establishing an error state equation and an SINS / GNSS combined measurement equation of the strapdown inertial navigation system under an ECEF system; and precisely estimating and compensating for the uncertainty perturbation parameter so as to ensure the precision and reliability of thesurface ship navigation system according to innovation of a robust H infinite filter. Through establishing the H infinite filter for SINS / GNSS combined navigation based on the Krein space, the robustness of the surface ship navigation system in resisting external uncertainty perturbation is ensured; meanwhile, the uncertainty perturbation parameter is precisely estimated and compensated for according to the innovation of the filter, so as to achieve the purposes of further improving reliability of the navigation system and finally realizing the precise positioning of the surface ship.

Description

technical field [0001] The invention belongs to the technical field of navigation, relates to a navigation and positioning method for surface warships, in particular to a robust self-adaptive filtering method for SINS / GNSS combined navigation based on Krein space. Background technique [0002] As an important part of surface ships, the navigation system determines the safety and reliability of surface ships to a certain extent. Strap-down Inertial Navigation Systems (SINS) and Global Navigation Satellite System (Global Positioning System, GNSS) are two commonly used navigation systems for surface ships. When the uncertainty perturbation of the navigation system is caused by the unknown random interference environment in the sea area, the conventional linear error model cannot describe the influence of the uncertainty perturbation parameters on the navigation system, which will lead to a decrease in navigation accuracy or even failure. Ship navigation systems cannot solve th...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20G01S19/47
CPCG01C21/165G01C21/203G01S19/47Y02T90/00
Inventor 陈熙源王俊玮王子静杨萍邵鑫
Owner SOUTHEAST UNIV
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