A BDS/INS tight integrated navigation method in low dynamic and high vibration environment

Abstract

The invention discloses a BDS / INS compact integrated navigation method under low dynamic and high vibration environments. The BDS / INS compact integrated navigation method obtains INS original data andsynchronous BDS original data of a mobile vehicle under the low dynamic and high vibration environments. Firstly, EMD-ICA de-noising processing to the INS original data is conducted, and then de-noised INS data is obtained; a compact integrated Kalman filtering algorithm is conducted to EMD-ICA de-noised INS data and the BDS original data; and RTS smooth processing is conducted to data after theKalman filtering algorithm to obtain the position of the mobile vehicle in a local geographic coordinate system, and speed and attitude information of three directions in the local geographic coordinate system in the whole navigation process, so that specific positioning information of the mobile vehicle is obtained and accurate navigation to the mobile vehicle is achieved by combining geographicinformation of a destination.

Description

technical field [0001] The invention relates to a navigation method, and is especially suitable for a BDS / INS tight combination navigation method used in the navigation field under low dynamic and high vibration environments. Background technique [0002] With the development of satellite positioning technology, the research of GPS / INS integrated navigation for dynamic positioning is very extensive, and the positioning performance of the system can be improved through the tight combination of GPS / INS. At present, my country's BDS system has the same signal modulation method as the GPS system, and BDS already has global navigation and positioning service capabilities. The BDS / INS tight combination method has higher navigation accuracy and can perform navigation and positioning in complex environments. At present, most papers and patents at home and abroad mainly propose solutions for INS raw data noise reduction, and most of them use wavelet threshold noise reduction, EMD no...

AI Technical Summary

Problems solved by technology

At present, most papers and patents at home and abroad mainly propose solutions for INS raw data noise reduction, and most of them use wavelet threshold noise reduction, EMD noise reduction methods, and EMD-wavelet noise reduction methods. Wavelet threshold noise reduction methods cannot suppress the interference of abnormal noise , and the basis function and the number of decomposition layers need to be determined in advance, it does not have adaptive ability, and the noise reduction result is greatly affected by the threshold and the threshold function; for EMD noise reduction, when the signal to noise is low and there is pulse interference or abnormality In the case of noise, the distribution of extreme points of the signal is uneven, resulting in modal aliasing, resulting in the aliasing of two adjacent IMF components, which is difficult to distinguish, thus affecting the EMD noise reduction effect; in the EMD-wavelet noise reduction model, it is necessary to determine High-frequency IMF performs wavelet noise reduction, so the noise reduction effect is affected by the number of high-frequency IMFs. Similarly, when the signal-to-noise signal is low and there is pulse interference or abnormal noise, the noise reduction effect of EMD-wavelet noise reduction is not ideal

[0003] The current low-dynamic and high-vibration environment means that the mobile vehicle carrying BDS and INS travels slowly, but the mobile vehicle is in high-frequency irregular vibration. This low-dynamic and high-vibration environment will affect the positioning of BDS and INS at the same time Solution: For BDS, fast vibration will cause BDS satellite signal tracking to lose lock, making it difficult to fix the ambiguity of the entire cycle; for INS, low dynamic and high vibration will make the observation signal of the inertial device submerged in high-frequency noise, greatly reducing the BDS / INS tight integrated navigation positioning accuracy

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