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A technology of adaptive filtering and combined positioning, which is applied in the re-radiation of sound waves, radio wave measurement systems, and navigation through velocity/acceleration measurement, etc. high degree issues
Active Publication Date: 2019-08-20
HARBIN INST OF TECH AT WEIHAI
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[0003]
The purpose of the present invention is to solve the problem of poor system reliability and operational efficiency due to the excessive calculation amount and high system complexity of the SINS / DVL combined positioning method system in complex underwater environments, and proposes a non-inverse matrix adaptive filter SINS / DVL combined location method
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specific Embodiment approach 1
[0112] combine figure 1 Describe this embodiment, a kind of SINS / DVL combined positioning method without inverse matrix adaptive filtering described in this embodiment comprises the following steps:
[0113] Step 1, the system establishes the SINS / DVL combined positioning error model state variable X=[δv E δv N α β γ δL δλ ε E ε N ε U δv d δΔδC] T , where δv E and δv N α, β, γ are platform misalignment angles, δL and δλ are longitude and latitude errors, ε E , ε N , ε U is the gyro drift in the east, north and sky directions, δv d is the Doppler measurement velocity offset error, δΔ is the bias angle error, and δC is the scale coefficient error;
[0114] Step 2, the system measures the three-axis (east, north, sky) acceleration information a through the three-axis angular velocity information of the gyroscope sensitive carrier in the inertial navigation component and the accelerometer E 、a N 、a H , Velocity v obtained by Doppler log d , navigation informa...
specific Embodiment approach 2
[0218] Specific embodiment two, this embodiment is a further description of step seven of the SINS / DVL combined positioning method without inverse matrix adaptive filtering described in specific embodiment one, in this embodiment, according to the error and expectation of filtering estimation The relationship between the size of the error is used as a criterion for judging whether the filtering is divergent.
specific Embodiment approach 3
[0219] Specific embodiment 3, this embodiment is a further description of step 8 and step 9 of the SINS / DVL combined positioning method without inverse matrix adaptive filtering described in specific embodiment 1. In this embodiment, a method that can ensure The non-inverted matrix operation method of filtering accuracy and reliability avoids the matrix inversion operation process, and on the basis of reducing the amount of calculation, it ensures the reliability and stability of the operation process and improves the positioning accuracy of long-distance underwater autonomous navigation.
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Abstract
The invention relates to an inverse matrix-free self-adaptive filtering-based SINS (strap-down inertial navigation) / DVL (Doppler velocity log) combined positioning method and belongs to the technicalfield of high-precision SINS / DVL combined positioning. The invention aims to solve the problems of low calculation efficiency and poor stability of a traditional SINS / DVL combined navigation filteringalgorithm due to the complex calculation process of the algorithm. The inverse matrix-free self-adaptive filtering-based SINS (strap-down inertial navigation) / DVL (Doppler velocity log) combined positioning method of the invention includes the following steps that: corresponding state initial values and observation values are acquired based on the sensor information of a strap-down inertial navigation system and a Doppler velocity log; a corresponding system equation and observation equation based on a combined navigation error model are constructed, an inverse matrix-free self-adaptive filtering algorithm is adopted to correct errors, so that the post-correction speed and position error information of a target is obtained; and finally, the obtained error information and the observation information of the strap-down inertial navigation system and the Doppler velocity log are fused, so that a high-precision positioning result is obtained. With the method of the invention adopted, on the basis of decreasing a calculation amount and optimizing a calculation process, the reliability and stability of a system can be ensured, and the positioning precision of underwater autonomous navigation is improved.
Description
technical field [0001] The invention relates to high-precision underwater positioning technology. Background technique [0002] In the actual underwater positioning process, due to the complex and changeable underwater environment, the system noise and measurement noise of the strapdown inertial navigation and Doppler log combined positioning (SINS / DVL) system often have statistical characteristics. Certain time variability. In order to have a certain adaptive ability to the change of the statistical characteristics of the noise and improve the filtering accuracy, the adaptive Kalman filter algorithm is often used to process the noise. However, in the Kalman filtering process, most of the calculations are concentrated in the process of inversion operation. Moreover, the inversion operation is complicated for a computer and has poor reliability. Therefore, the present invention improves the adaptive Kalman filter algorithm by adopting the fast calculation matrix algorithm ...
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