Eureka AIR delivers breakthrough ideas for toughest innovation challenges, trusted by R&D personnel around the world.

Self adaptive weighting feedback correcting filter method of SINS/GPS combined navigation system

An integrated navigation system and self-adaptive weighting technology, which is applied to navigation through speed/acceleration measurement, navigation calculation tools, road network navigators, etc., can solve the problem of low accuracy of estimated values, decreased accuracy of integrated navigation systems, and small observability And other issues

Inactive Publication Date: 2007-04-11
BEIHANG UNIV
View PDF0 Cites 29 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the SINS / GPS integrated navigation system is usually not fully observable, the observability of some state variables is very small, resulting in low accuracy of the estimated values ​​of these states
Feedback these low-accuracy state estimates to the inside of SINS will cause the internal error of SINS to increase, and finally the accuracy of the integrated navigation system will decrease.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Self adaptive weighting feedback correcting filter method of SINS/GPS combined navigation system
  • Self adaptive weighting feedback correcting filter method of SINS/GPS combined navigation system
  • Self adaptive weighting feedback correcting filter method of SINS/GPS combined navigation system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0035] As shown in Figures 1 and 2, the specific implementation method of the present invention is as follows:

[0036] (1) Establish the mathematical model of the SINS / GPS integrated navigation system, including the system state equation and measurement equation, as shown in formula 1 and formula 2 respectively.

[0037] System state equation:

[0038] X · = FX + GW - - - ( 1 )

[0039] Among them, X is the system state vector, W is the system noise vector, F is the system transfer matrix, and G is the noise transfer matrix:

[0040] X=[φ x φ y φ z δv x δv y δv z δL δλ δh ε x ε y ε z  x  y  z ] T

[0041]

[0042] F = F INS F ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The present invention relates to adaptive weighting feedback correcting and filtering method for combined SINS / GPS navigation system. The method includes the first utilizing observed position and speed quantities the GPS provides in Kalman filtering to estimate the SINS position error, speed error, attitude error and device error; and the subsequent calculating the measurability of the system state quantities in the system measurability analysis process and adaptive weighting feedback correction on the SINS with the normalized system measurability as the weighting feedback factor. The present invention has the advantages of high precision, less divergence and high navigation precision on airplane, missile, ship and ground vehicle.

Description

technical field [0001] The invention relates to a filtering method for information fusion of a SINS / GPS integrated navigation system, which can be used to improve the navigation accuracy of the SINS / GPS integrated navigation system used for aircraft, missiles, ships or ground vehicles. Background technique [0002] Strapdown Inertial Navigation System (SINS) is a completely autonomous navigation system that can provide position, velocity and attitude information continuously and in real time. It has high short-term accuracy, good concealment, and is not limited by weather conditions. , and thus widely used in aviation, aerospace, navigation and other fields. However, the SINS error increases with time, so it is often combined with the Global Positioning System (GPS) to form a SINS / GPS integrated navigation system. [0003] In the SINS / GPS integrated navigation system, in order to improve the accuracy of the integrated navigation system, the existing methods often use the fe...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C21/26G01C21/28G01C21/20G01C21/16G01S1/02G01S5/02G01S5/14G01S19/49
Inventor 房建成刘百奇杨胜宫晓琳张钰李金涛
Owner BEIHANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com