Cooperative navigation positioning method for incomplete measurement
A technology of collaborative navigation and positioning method, which is applied in surveying and navigation, navigation and navigation through speed/acceleration measurement, and can solve the problems of poor positioning accuracy, incomplete measurement of collaborative filters, loss and other problems
Pending Publication Date: 2020-02-14
HENAN UNIVERSITY OF TECHNOLOGY
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[0004] Purpose of the invention: In order to solve the problem of poor positioning accuracy caused by incomplete measurement and loss of collaborative platform information, a collaborative navigation and positioning algorithm for incomplete measurement is proposed, and a collaborative filter for incomplete measurement is established to provide a An Efficient and Stable Cooperative Navigation and Positioning Method
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[0016] The present invention will be further explained below in conjunction with the accompanying drawings.
[0017] The present invention can be better understood from the following examples. as attached figure 1 As shown, the present invention is a cooperative navigation positioning method of incomplete measurement, and the specific steps are as follows:
[0018] 1. A collaborative navigation positioning method considering incomplete measurement, characterized in that the specific steps of the collaborative navigation method are as follows:
[0019] Step 1: Model the cooperative navigation and positioning system as multiple mobile nodes and multiple anchor points. Each mobile node uses its own inertial sensor to carry out strapdown calculations, uses GPS signals to correct the navigation error calculated by INS, and provides feedback amend;
[0020] Step 2, collaborative navigation and positioning network communication, as attached figure 2 As shown, each mobile node us...
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The invention discloses a cooperative navigation positioning method for incomplete measurement, thereby solving incomplete measurement problems of random packet loss of measurement data and the like of a networking communication link in a relative navigation platform. A cooperative navigation positioning filter under a Bayesian framework is established to solve the problems. The method comprises the following two steps: step 1, modeling a collaborative navigation positioning system into a plurality of mobile nodes and a plurality of anchor points, carrying out strapdown calculation by each mobile node based on the own inertial sensor, and correcting a navigation error of INS calculation by utilizing a GPS signal, and carrying out correction; and step two, performing cooperative navigationpositioning networking communication, carrying out cooperative navigation positioning by each mobile node by using an observable anchor point and UWB relative distance measurement of other mobile nodes; and carrying out compensation by using an incomplete measurement collaborative navigation estimation filter in the incomplete measurement of a networking communication link and outputting navigation parameters. The cooperative navigation positioning method is suitable for collaborative navigation and positioning when random packet loss occurs in the networking communication link.
Description
technical field [0001] The invention belongs to the technical field of cooperative navigation, and in particular relates to a cooperative navigation positioning method considering incomplete measurement. Background technique [0002] Collaborative navigation is a technology in which the navigation information is interactively utilized between platforms in a cooperative networked formation to calculate and correct its own position, speed, attitude and other navigation information in real time, so as to ensure the smooth completion of coordinated formation maintenance, formation reconstruction and subsequent collaborative tasks. . If the precise navigation information of the collaborative platform cannot be obtained, or the obtained relative navigation accuracy decreases, the control accuracy of the formation will deteriorate, and the task execution effect will also decrease or even make mistakes. [0003] Cooperative navigation and positioning under the Bayesian framework is...
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IPC IPC(8): G01C21/16G01S19/47H04W4/02H04W4/024H04W64/00
CPCG01C21/165G01S19/47H04W4/023H04W4/024H04W64/00
Inventor 陈红梅常林江吴才章王慧娟
Owner HENAN UNIVERSITY OF TECHNOLOGY