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Navigation method based on adaptive fault-tolerant filtering under GNSS lock loss

A navigation method and self-adaptive technology, applied in navigation, surveying and mapping and navigation, road network navigator, etc., can solve the problem of large SINS positioning error, achieve small alarm delay, good positioning effect, and improve the effect of utilization weight

Pending Publication Date: 2021-12-21
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The invention discloses a navigation method based on adaptive fault-tolerant filtering under GNSS loss of lock, which solves the problem that the positioning error of SINS / GNSS combined navigation using simple SINS is getting larger and larger under GNSS loss of lock

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  • Navigation method based on adaptive fault-tolerant filtering under GNSS lock loss
  • Navigation method based on adaptive fault-tolerant filtering under GNSS lock loss
  • Navigation method based on adaptive fault-tolerant filtering under GNSS lock loss

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Embodiment Construction

[0020] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0021] Such as figure 1 As shown, the navigation method based on adaptive fault-tolerant filtering under the GNSS out-of-lock of the present invention specifically includes:

[0022] Step 1, according to the state transition matrix and the state variable, establish the filtering state equation of the integrated navigation;

[0023] x k = Φ k,k-1 x k-1 +Γ k,k-1 W k-1 ;

[0024] Among them, Φ k,k-1 is the state transition matrix, Γ k,k-1 Enter the matrix for the system noise, X k is the state variable at time k, W k-1 is the system noise matrix at time k-1;

[0025] In the specific implementation, the navigation coordinate system n of the system is selected as the local geographic coordinate system, the coordinate axes point to the east, north, and sky directions respectively, and the x, y, and z axes of the car body coordinate system m point to the right an...

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Abstract

The invention discloses a navigation method based on adaptive fault-tolerant filtering under GNSS lock loss, and solves the problem that the positioning error of SINS / GNSS integrated navigation is larger and larger when a pure SINS is used under the GNSS lock loss. The method comprises the following steps: establishing a filtering state equation of integrated navigation according to a state transition matrix and a state variable; according to the filtering state equation, using the difference between the position and speed output by inertial navigation and the position and speed output by a GNSS receiver as a filter observation value when the satellite is valid, constructing a filter observation value by adopting vehicle kinematics constraint when the satellite is invalid, and establishing a filtering observation equation; when the satellite is invalid, constructing x2 statistics used for fault judgment according to the filtering observation equation; respectively calculating a fading factor matrix and a weighting factor matrix of adaptive fault-tolerant filtering according to the fault judgment result; and performing adaptive fault-tolerant filtering according to the fading factor matrix and the weighting factor matrix, and obtaining final navigation information at the moment k by combining the position and speed information at the moment k.

Description

technical field [0001] The invention belongs to the field of combined navigation and positioning, and in particular relates to a navigation method based on adaptive fault-tolerant filtering under GNSS out-of-lock conditions. Background technique [0002] SINS (Strapdown Inertial Navigation System, Strapdown Inertial Navigation System) and GNSS (Global Navigation Satellite System, Global Navigation Satellite System) are well complementary, making it a common navigation and positioning method for vehicle integrated navigation. GNSS can accurately determine the position of vehicles in most areas of the earth's surface, but in urban environments, due to trees, buildings, or vehicles driving in areas such as tunnels and underground parking lots, GNSS cannot receive enough satellites. The signal will be out of lock, and only rely on SINS for navigation and positioning, and its positioning error will gradually accumulate over time. [0003] At present, the problem of reduced navig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/28G01C21/16G01S19/37G01S19/47
CPCG01C21/28G01C21/165G01S19/47G01S19/37
Inventor 缪玲娟李正帅周志强
Owner BEIJING INSTITUTE OF TECHNOLOGYGY