基于交互式多模型快速平滑切换框架的导航定位方法
By adopting a navigation and positioning method based on an interactive multi-model fast and smooth switching framework, the problems of model switching lag and likelihood distortion in traditional interactive multi-model algorithms in complex scenarios are solved, and high-precision and robust navigation is achieved in complex environments.
CN122192295BActive Publication Date: 2026-07-17HOHAI UNIV
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HOHAI UNIV
- Filing Date
- 2026-05-18
- Publication Date
- 2026-07-17
Smart Images
Figure CN122192295B_ABST
Abstract
本发明公开了一种基于交互式多模型快速平滑切换框架的导航定位方法。本发明首先初始化惯性导航系统、三种子滤波模型及交互式多模型基准参数；再基于新息平方和（ISR）与卡方检验对原始似然值进行鲁棒化修正，抑制异常值对似然值的干扰；之后基于滑动窗口趋势分析实现双级判定，一级强化持续最优模型，二级切换失效模型并筛选出趋势合格的替代模型；再根据判定结果计算转移概率修正系数，动态调整交互式多模型的转移概率矩阵（TPM）；最后通过多模型加权融合输出导航结果，实现组合导航实时迭代，以达到解决传统交互式多模型复杂噪声、模型失配场景下似然值易失真、模型切换滞后、转移概率矩阵适应性差的问题。
Need to check novelty before this filing date? Find Prior Art