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SINS/DVL integrated navigation method based on improved Sage-Husa adaptive filtering

A technology of adaptive filtering and integrated navigation, which is applied to navigation through velocity/acceleration measurement, identification of patterns in signals, measurement devices, etc. , the effect of improving stability

Active Publication Date: 2020-04-17
SOUTHEAST UNIV
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Problems solved by technology

[0004] Purpose of the invention: the purpose of the present invention is to solve the problem of low accuracy and abnormal filtering of SINS / DVL integrated navigation based on Sage-Husa adaptive filtering under the unknown external noise situation, and provide a kind of SINS / DVL integrated navigation with improved Sage-Husa adaptive filtering method

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  • SINS/DVL integrated navigation method based on improved Sage-Husa adaptive filtering
  • SINS/DVL integrated navigation method based on improved Sage-Husa adaptive filtering
  • SINS/DVL integrated navigation method based on improved Sage-Husa adaptive filtering

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[0052] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0053] In order to improve the accuracy and stability of integrated navigation under the condition of unknown external noise, the present invention proposes a SINS / DVL integrated navigation method with improved Sage-Husa adaptive filtering based on improving algorithm stability and noise estimation accuracy. Based on the SINS / DVL integrated navigation model, the method improves the stability and precision of the system by introducing the forgetting factor adjustment function and the variable sliding window method. This method can improve the precision and stability of integrated navigation under the condition of unknown external noise.

[0054] refer to figure 1 , In one embodiment, the SINS / DVL integrated navigation method that improves Sage-Husa adaptive filtering comprises the following steps:

[0055] Known quantity:

[0056] Fiber opti...

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Abstract

The invention discloses an SINS / DVL integrated navigation method based on improved Sage-Husa adaptive filtering, and mainly aims to solve the problem of integrated navigation based on SINS / DVL under the condition that external measurement noise is unknown. The method mainly comprises the steps of space model establishment, filtering state updating, filtering gain calculation and measurement updating, measurement noise variance matrix calculation, variable sliding window processing and the like. According to the invention, the problems of poor SINS / DVL integrated navigation precision and poor stability under the condition of that the external measurement noise is unknown can be solved. Compared with a Sage-Husa based SINS / DVL integrated navigation method commonly adopted at present, the method has the advantages that the external measurement noise can be accurately estimated, and the integrated navigation precision and the system stability are further improved.

Description

technical field [0001] The invention belongs to underwater vehicle integrated navigation technology, in particular to a SINS / DVL integrated navigation method. Background technique [0002] With the continuous exploration of the ocean by humans, the demand for resource development, marine environmental survey, and operations has also increased. Underwater vehicles can replace humans in deep water to complete the detection and development of marine resources, saving a lot of cost for production. Underwater vehicles have become one of the important tools for human ocean development. With the gradual deepening of human beings in the field of ocean exploration, the tasks to be completed by underwater vehicles are becoming more and more complex, and the working hours are getting longer and longer. Now the development of underwater vehicles is facing many problems, among which high-precision autonomous navigation and positioning is one of the main problems it faces. The autonomo...

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Application Information

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IPC IPC(8): G01C21/16G01C25/00G06K9/00
CPCG01C21/16G01C25/005G06F2218/02
Inventor 徐晓苏王迪姚逸卿朱永云
Owner SOUTHEAST UNIV
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