Integrated navigation fault tolerance method based on adaptive federal strong tracking filtering

A technology of strong tracking filtering and integrated navigation, applied in the field of integrated navigation, can solve the problems of high computational complexity, affecting the filtering accuracy of the system, and increasing the amount of calculation

Pending Publication Date: 2020-02-21
SHANDONG UNIV
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Problems solved by technology

In the fusion process, the main filter of FKF needs to calculate a large number of inverse matrices of the covariance matrix of local and global state estimates, and the calculation complexity is high; especially when the dimension of the selected integrated navigation system st

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  • Integrated navigation fault tolerance method based on adaptive federal strong tracking filtering
  • Integrated navigation fault tolerance method based on adaptive federal strong tracking filtering
  • Integrated navigation fault tolerance method based on adaptive federal strong tracking filtering

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Embodiment Construction

[0079] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

[0080] The present invention provides a combined navigation fault-tolerant method based on adaptive federated strong tracking filtering, and the specific embodiments are as follows:

[0081] Such as figure 1 As shown, an integrated navigation fault-tolerant method based on adaptive federated strong tracking filter, including the following steps:

[0082] Step 1: Taking SINS as the reference system, select the state quantity and observation quantity, establish the state model of the integrated navigation system, and the measurement equations of the SINS / GPS and SINS / DVL subsystems;

[0083] Establish the state model of the integrated navigation system, as follows:

[0084]

[0085] In the formula, X(t) is the system state vector, F(t) is the state transition matrix, W(t) i...

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Abstract

The invention discloses an integrated navigation fault tolerance method based on adaptive federal strong tracking filtering, comprising the following steps: establishing an integrated navigation system state model; constructing a fault detection function for detection; constructing an adaptive strong tracking filtering algorithm for state estimation; sending output data of a fault-free subfilter to a main filter for adaptive information fusion to obtain a global state estimation value; feeding the global state estimation value back to a fault-free subsystem, and resetting, for a subsystem withfault, subsystem information; and correcting, based on the obtained global state estimation value, navigation parameters output by an inertial navigation system. The method can not only improve the filtering accuracy of the system, but also improve the tracking ability of the filter when the system state changes suddenly, can detect and isolate the faulty system, improve the accuracy and reliability of the fusion result, and thus enhance the robustness of the integrated navigation system. The method is simple and easy to implement.

Description

technical field [0001] The invention belongs to the technical field of integrated navigation, in particular to an integrated navigation fault-tolerant method based on self-adaptive federal strong tracking filter. Background technique [0002] With the advancement of science and technology and the development of the times, the demand for high-precision and high-reliability navigation and positioning is constantly increasing, whether it is in the military or civilian fields. The Global Navigation Satellite System (GNSS) is the main means of outdoor high-precision positioning. It has the characteristics of high long-term measurement accuracy and all-weather work. However, in complex areas such as forests and urban canyons, satellite signals are easily blocked and interfered, resulting in GNSS The positioning device cannot output navigation parameters normally. Strapdown Inertial Navigation System (SINS) is an autonomous navigation system that can provide accurate relative posi...

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Application Information

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IPC IPC(8): G01C21/16G01C25/00G01S19/47G01S15/02G01S15/58
CPCG01C21/165G01C25/005G01S19/47G01S15/58Y02T90/00
Inventor 熊海良麦珍珍卞若晨王广渊胡昌武
Owner SHANDONG UNIV
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