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
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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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