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Integrated navigation robust filtering method based on statistical similarity measurement

A similarity measurement and robust filtering technology, applied in the field of integrated navigation, can solve the problems of missing useful information and not being fully used, and achieve the effect of ensuring independence

Active Publication Date: 2021-12-21
HARBIN ENG UNIV
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Problems solved by technology

However, most of the robust filters used in the current integrated navigation system are to uniformly adjust the utilization rate of all measurement information. The utilization of beam information from measurement errors may cause other normal beam measurement information to be underused in the system, thereby losing useful information

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  • Integrated navigation robust filtering method based on statistical similarity measurement
  • Integrated navigation robust filtering method based on statistical similarity measurement
  • Integrated navigation robust filtering method based on statistical similarity measurement

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Embodiment Construction

[0064] The present invention will be further described below in conjunction with the accompanying drawings.

[0065] The object of the present invention is to provide a robust filtering method that can individually adjust the measurement noise variance of each DVL beam for the SINS / DVL tight integrated navigation system, that is, when a large error occurs in a certain measurement, it can automatically The corresponding measurement noise variance matrix in the filter is increased, while the measurement noise variance matrix of other normal measurements is hardly adjusted.

[0066] Step 1: Establish a SINS / DVL compact integrated navigation system model;

[0067] First define the commonly used coordinate system, the carrier coordinate system is represented by b, the earth-centered ground-fixed coordinate system is represented by e, the "east-north-sky" geographic coordinate system is used as the navigation system by n, the inertial coordinate system is represented by i, and the D...

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Abstract

The invention belongs to the technical field of integrated navigation under non-ideal conditions, and particularly relates to an integrated navigation robust filtering method based on statistical similarity measurement. According to the method, the situation that normal DVL beam measurement information and large-error beam measurement information appear at the same time in an SINS / DVL tight combination system is considered, and aiming at the problem that normal measurement information is prone to being lost due to the fact that a robust filter of an existing combined navigation system processes the measurement information coarsely at present, a new robust filtering method is provided based on multi-dimensional measurement equation decomposition and statistical similarity measurement. According to the method, a statistical similarity measurement (SSM) theory is introduced while a multi-dimensional measurement equation of an SINS / DVL tightly integrated navigation system is decomposed, so that the measurement noise variance of each beam is assisted to complete respective self-adaptive updating when a large measurement error occurs, and finally, the independence of measurement information processing of each beam is ensured. The method can be used in the field of underwater vehicle integrated navigation under non-ideal conditions.

Description

technical field [0001] The invention belongs to the technical field of combined navigation under non-ideal conditions, and in particular relates to a robust filtering method for combined navigation based on statistical similarity measure. Background technique [0002] The strapdown inertial navigation / Doppler speed log (SINS / DVL) integrated navigation system is one of the most commonly used integrated navigation methods for underwater vehicles. Among them, the tight combination method can use the original beam measurement information of DVL, and has good fault tolerance, so it is gradually used widely. DVL adopts the principle of Doppler frequency shift, and can measure the speed of the carrier along the direction of the sound beam by calculating the difference between the frequency of the sound wave emitted to the bottom and the frequency of the reflected sound wave received. However, in some complex situations, DVL will have large measurement errors. For example, the acou...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20Y02T90/00
Inventor 徐博郭瑜赵玉新吴磊胡俊苗陈崇王连钊李盛新王潇雨王朝阳
Owner HARBIN ENG UNIV
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