Satellite/inertial/visual combination navigation system integrity evaluation method

Abstract

The invention discloses a satellite / inertial / visual combination navigation system integrity evaluation method, relates to integrity evaluation of a multi-sensor combination navigation system and belongs to the calculating, reckoning and counting technology fields. In the method, a measured value of each sensor at current time is preprocessed to obtain an observation vector of each sensor at the current time, and the observation vector of each sensor at the current time is expressed as multiple edges having a common pose node. A relationship between the pose node and the edges is used, graph optimization is used to construct a residual weighted quadratic sum function, and a firefly algorithm with high robustness is adopted to optimize the pose node to solve an optimal solution of the residual weighted quadratic sum function and realize a global optimum. And then, test statistics is calculated and the test statistics is compared with a detection threshold so as to determine whether there is a fault. A system calculation amount is reduced, a time delay problem caused by sudden increase of memory consumption over time is avoided, and a real-time detection requirement can be satisfied.

Description

technical field [0001] The invention discloses a method for evaluating the integrity of a satellite / inertial / vision integrated navigation system, relates to the integrity evaluation of a multi-sensor integrated navigation system, and belongs to the technical field of calculation, calculation and counting. Background technique [0002] In recent years, MEMS (Micro-Electro-Mechanical System, Micro-Electro-Mechanical System) sensors, MSIS (Micro Solid-state Inertial Sensor, tiny solid-state inertial sensor), fiber optic gyroscope and GNSS (Global Navigation Satellite System, Global Navigation Satellite System) receivers, etc. New low-cost, small, light-weight navigation sensors, high-speed and large-capacity embedded microprocessors and distributed modular electronic devices have developed rapidly, and a wave of research on multi-sensor navigation systems has arisen. [0003] In order to improve the accuracy and reliability of the multi-sensor navigation system, experts at home...

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Problems solved by technology

[0008] The object of the invention of the present invention is to provide a satellite / inertial / visual integrated navigation system integrity evaluation method for the above-mentioned deficiencies in the background technology, which realizes the global optimization of the multi-sensor integrated navigation system through less calculation, and solves the problem of existing problems. The technical problem that the integrity assessment method of the multi-sensor navigation system cannot meet the real-time requirements

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