Multi-source self-adaptive fault-tolerant federated filtering integrated navigation system and navigation method

An integrated navigation system and federated filtering technology, applied in the field of navigation and communication, can solve problems such as inability to track changes

Active Publication Date: 2020-05-22
SHANDONG UNIV
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However, the traditional information sharing coefficient cannot fully reflect th...

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  • Multi-source self-adaptive fault-tolerant federated filtering integrated navigation system and navigation method
  • Multi-source self-adaptive fault-tolerant federated filtering integrated navigation system and navigation method
  • Multi-source self-adaptive fault-tolerant federated filtering integrated navigation system and navigation method

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Embodiment Construction

[0088] 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.

[0089] like figure 1 As shown, a multi-source adaptive fault-tolerant federated filtering integrated navigation system includes strapdown inertial navigation system, satellite navigation system, Doppler speed measurement system, astronomical navigation system, and the main filter, Sub-filter 1, sub-filter 2 and sub-filter 3; the above three sub-filters are connected to the SINS, and are connected to the main filter through the fault detection and isolation module, and the SINS passes the state The propagator is connected to the fault detection and isolation module. After the output result of the fault detection and isolation module passes through the information sharing factor calculation module, the calculation result is input to the main filter; the main filter outputs the f...

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Abstract

The invention discloses a multi-source self-adaptive fault-tolerant federated filtering integrated navigation system and a navigation method. The system comprises a strapdown inertial navigation system, a satellite navigation system, a Doppler velocity measurement system, a celestial navigation system, and a main filter and three sub-filters that are in information connection with the systems respectively; the three sub-filters are all in information connection with the strapdown inertial navigation system, and are connected to the main filter through a fault detection and isolation module, the strapdown inertial navigation system is connected to the fault detection and isolation module through a state transmitter, and an output result of the fault detection and isolation module passes through an information sharing factor calculation module, then the calculation result is input into the main filter; and the main filter outputs the fused information and synchronizes a fusion result tothe three sub-filters and the state transmitter. According to the system and the method disclosed by the invention, the state of each sub-filter can be tracked more accurately, and a more precise fusion result can be obtained.

Description

technical field [0001] The invention relates to the technical field of navigation communication, in particular to a multi-source adaptive fault-tolerant federated filtering combined navigation system and navigation method. Background technique [0002] With the continuous improvement of high-precision, real-time, seamless navigation and positioning requirements, traditional single-sensor navigation systems cannot meet actual needs. Multi-sensor integrated navigation technology and some other emerging hybrid navigation technologies have become research hotspots. The Global Navigation Satellite System (GNSS) is a satellite-based radio navigation system capable of providing long-term reliable position information in a variety of situations. But in some signal-occluded environments, such as forests, canyons, tunnels, and urban areas, its performance will drop sharply. Strapdown Inertial Navigation System (SINS) is an autonomous navigation system that is not disturbed by the ex...

Claims

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Application Information

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IPC IPC(8): G01C21/00G06N3/04G06N3/08
CPCG01C21/005G06N3/084G06N3/048G06N3/045
Inventor 熊海良卞若晨麦珍珍胡昌武王广渊
Owner SHANDONG UNIV
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