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Optimal data fusion method suitable for ballistic missile INS/CNS/GNSS integrated navigation system

An integrated navigation system and data fusion technology, applied in the field of optimal data fusion of ballistic missile INS/CNS/GNSS integrated navigation system, can solve the problem of poor navigation accuracy

Active Publication Date: 2019-12-31
SOUTHEAST UNIV
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Problems solved by technology

[0004] Purpose of the invention: In order to overcome the shortcomings of the poor navigation accuracy of the integrated navigation system existing in the prior art, provide a kind of optimal data fusion method applicable to the ballistic missile INS / CNS / GNSS integrated navigation system, whose current process model contains uncertainties Even when the measurement noise is non-Gaussian noise and the global optimal state estimation can still be obtained

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  • Optimal data fusion method suitable for ballistic missile INS/CNS/GNSS integrated navigation system

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[0045] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments.

[0046] Such as figure 1 As shown, the present invention provides a kind of optimum data fusion method that is applicable to ballistic missile INS / CNS / GNSS integrated navigation system, comprises the following steps:

[0047] S1: Construction of INS / CNS / GNSS integrated navigation system filtering model:

[0048] S1-1: Set the state vector of the INS / CNS / GNSS integrated navigation system as:

[0049] x=[φ x , φ y , φ z , δv x , δv y , δv z , x, y, z, ε x , ε y , ε z ,Δ x ,Δ y ,Δ z ] T (1)

[0050] where φ x , φ y , φ z Indicates the attitude misalignment angle in the inertial system of the launching point, δv x , δv y , δv z Indicates the velocity error under the inertial system of the launching point, x, y, z indicate the position error under the inertial system of the launching point, ε x , ε y , ε z Indicates the gyro ...

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Abstract

The invention discloses an optimal data fusion method suitable for a ballistic missile INS / CNS / GNSS integrated navigation system. The method comprises the steps of constructing an INS / CNS / GNSS integrated navigation system model; respectively introducing an adaptive fading factor and a maximum correlation entropy criterion in a time updating stage and a measurement updating stage of a generalized high-order CKF to carry out local state estimation on an INS / CNS subsystem and an INS / GNSS subsystem; and fusing local estimation of the INS / CNS subsystem and the INS / GNSS subsystem according to a minimum variance principle and a volume criterion to obtain global optimal state estimation. According to the method, the influence of process modeling errors and non-Gaussian measurement noise on state estimation can be suppressed at the same time, the adaptability and robustness of ballistic missile INS / CNS / GNSS integrated navigation are improved, and a globally optimal state estimation value is obtained.

Description

technical field [0001] The invention relates to a data fusion method, in particular to an optimal data fusion method suitable for a ballistic missile INS / CNS / GNSS integrated navigation system. Background technique [0002] Traditional federated multi-sensor data fusion methods based on EKF and UKF use the upper bound of the process noise covariance instead of the process noise covariance itself to eliminate the correlation between local state estimates, so the resulting global state estimate is suboptimal. In addition, this type of method requires that the nonlinear system model must achieve sufficient accuracy. However, during the flight of a ballistic missile, on the one hand, its INS / CNS / GNSS integrated navigation system is easily affected by the complex environment, which leads to the measurement information of the INS / CNS / GNSS integrated navigation system being affected by non-Gaussian In this case, if we continue to use the traditional nonlinear filtering method based...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/49G01C21/16G01C21/20G01S19/37
CPCG01S19/49G01C21/165G01C21/20G01S19/37
Inventor 陈熙源柳笛刘晓石春凤马振
Owner SOUTHEAST UNIV
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