Multi-scale data partitioning algorithm for integrated navigation information fusion of unmanned ship
A technology of integrated navigation and data segmentation, applied in navigation computing tools, navigation, mapping and navigation, etc., can solve the problems of multi-sensor asynchrony, reducing the navigation accuracy of the integrated navigation system, and increasing the error of the integrated navigation system.
Pending Publication Date: 2020-03-27
DALIAN MARITIME UNIVERSITY
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[0003] At present, the multi-sensor information fusion method of integrated navigation system has been widely studied, but in the actual application process, due to the limitations of sensor performance, large difference in signal change rate, and different sampling period, the sampling rate of each navigation sensor is not constant. The same, and it includes the inherent delay of the sensor and the communication delay, so the navigation sensor does not send the sensor data back to the fusion center synchronously, causing the asynchronous problem of multi-sensor information fusion, reducing the navigation accuracy of the integrated navigation system, and increasing the error of the integrated navigation system
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[0141] The present invention will be further described below in conjunction with the drawings. In order to demonstrate the effectiveness and feasibility of the present invention, the MATLAB simulation system adopts the dynamic simulation mode of the unmanned ship, and the navigation trajectory is set according to the characteristics of the unmanned ship to verify the present invention.
[0142] In order to simulate the effect of multi-sensor asynchronous sampling, the ratio of the sampling period of the three sensors of SINS, GPS, and Compass is set to 1:2:3, and the performance indicators of the MEMS inertial sensor are set as shown in Table 1.
[0143] Table 1 Sensor Error Item Setting
[0144]
[0145] The initial parameters of the unmanned ship are set as follows: initial course of 45°, initial speed of 5m / s, initial position of 124.0°E and 39.0°N. In the experiment, take the original scale N=3, then M N =3, suppose the sampling period of the sensor with the highest sampling rat...
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The invention discloses a multi-scale data partitioning algorithm for integrated navigation information fusion of an unmanned ship, which is called MDS for short and comprises the following steps of:establishing an integrated navigation system mathematical model; establishing an integrated navigation multi-scale system model; designing an optimal fusion algorithm. Aiming at the problem of multi-sensor asynchronous sampling of an unmanned ship integrated navigation system, the invention provides a multi-scale data partitioning information fusion method (MDS), and compared with a traditional federated filtering (FKF) distributed filtering algorithm, the problem of sensor information asynchronous fusion is effectively solved. On the basis of an original multi-scale filtering method, the multi-scale filtering method is combined with a data partitioning method, and compared with a wavelet transform method, the method is smaller in calculated amount, simpler and more convenient, and the information fusion effect of the unmanned ship integrated navigation system is improved.
Description
Technical field [0001] The invention belongs to the field of multi-sensor information fusion, and particularly relates to the application research of a multi-scale data block algorithm in the multi-sensor information fusion of an unmanned ship SINS / GPS / Compass integrated navigation system. Background technique [0002] Integrated navigation system refers to a navigation system composed of various navigation sensors, controlled by a controller. Integrated navigation systems are widely used in applications such as automobiles and ships to provide accurate information parameters. Since strapdown inertial navigation systems can provide more navigation parameters, integrated navigation systems are mostly designed on the basis of strapdown inertial navigation. At present, multi-sensor information fusion methods are widely used in data processing fusion of integrated navigation. Commonly used filtering structures for multi-sensor information fusion include centralized filtering structu...
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IPC IPC(8): G01C21/16G01C21/20G01S19/42
CPCG01C21/165G01C21/20G01S19/42
Inventor 王宁杨毅陈帅
Owner DALIAN MARITIME UNIVERSITY