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GNSS/SINS/magnetometer combination method based on smooth variable structure filtering

A combined method and variable structure technology, applied in navigation calculation tools, radio wave measurement systems, navigation through speed/acceleration measurement, etc. Effect

Pending Publication Date: 2021-04-20
CHINA UNIV OF MINING & TECH
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  • Abstract
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Problems solved by technology

However, these combined alignment methods do not contain complete basic navigation parameters (position, velocity, attitude), and cannot be applied to combined navigation and positioning.

Method used

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  • GNSS/SINS/magnetometer combination method based on smooth variable structure filtering
  • GNSS/SINS/magnetometer combination method based on smooth variable structure filtering
  • GNSS/SINS/magnetometer combination method based on smooth variable structure filtering

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Embodiment Construction

[0094] Below according to accompanying drawing, the present invention will be further described

[0095] Such as figure 1 Shown, the specific implementation steps of the present invention are as follows:

[0096] Step 1: According to actual needs, select appropriate navigation parameters, and the present invention selects the inertial navigation speed error [δV E δV N δV U ], attitude angle error [φ E φ N φ U ] and inertial navigation position error [δL δλ δh] as state variables:

[0097] X=[δV E δV N δV U φ E φ N φ U δL δλ δh]

[0098] Step 2: Design the state equation. In order to meet the constraints of SVSF, the traditional 15-dimensional filter is reduced to 9 dimensions, and the remaining 6 dimensions are treated as equivalent system white noise. The specific formula of the system equation is

[0099]

[0100] in,

[0101]

[0102]

[0103]

[0104]

[0105] In the above formula, F is the state transition matrix, G is the syste...

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Abstract

The invention provides a GNSS / SINS / magnetometer combination method, which is based on smooth variable structure filtering, enhances the observability of a system model by using attitude angle difference observed quantity provided by a magnetometer and an accelerometer, and applies the smooth variable structure filtering to improve the robustness of a state variable. The method includes: step 1, selecting an appropriate state variable in a SINS system; step 2, establishing a state equation of a integrated navigation system; step 3, establishing a measurement equation of the integrated navigation system; step 4, constructing an observability matrix of the system model, and carrying out observability analysis on the system model; evaluating whether the combined system based on GNSS / SINS / magnetometer has complete observability or not according to an analysis result; if so, carrying out application of smooth variable structure filtering; and if not, repeating the steps 1 to 4, re-selecting the state variable and the corresponding observed quantity, and designing a new state equation and a new measurement equation until the system is a completely observable system; and step 5, applying the smooth variable structure filtering.

Description

technical field [0001] The invention belongs to the technical field of combined navigation and positioning, and in particular relates to a combined method of GNSS / SINS / magnetometer based on smooth variable structure filtering. Background technique [0002] GNSS / SINS integrated navigation is one of the commonly used navigation means: Global Navigation Satellite System (GNSS) has the characteristics that errors are not easy to diverge, but satellite signals are easily blocked and interfered; Strapdown Inertial Navigation System (SINS) is free from external interference and autonomous Strong, but errors are easy to accumulate. The combination of these two navigation systems can better complete the navigation tasks. Kalman filtering is a commonly used data fusion method in integrated navigation, but this method requires the system to provide accurate state equations and measurement equations, and requires the system noise and measurement noise to be Gaussian white noise with kn...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16G01C21/08G01S19/45G01S19/47
Inventor 张秋昭黄伟孙澳王方田郑南山李增科
Owner CHINA UNIV OF MINING & TECH
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