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Minitype combined navigation system and self-adaptive filtering method

A technology of integrated navigation system and adaptive filtering, applied in the field of inertial navigation, can solve problems such as particle filter degradation

Inactive Publication Date: 2007-10-24
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, there is a degradation phenomenon in the particle filter, and an important means to suppress the degradation is to choose an appropriate importance probability density function

Method used

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  • Minitype combined navigation system and self-adaptive filtering method
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  • Minitype combined navigation system and self-adaptive filtering method

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Embodiment Construction

[0035] Redundancy micro inertial navigation system is a miniature strapdown inertial navigation system that adopts MEMS-IMU redundancy configuration technology. There are many redundancy configuration schemes depending on the number of devices. The configuration scheme of six single-degree-of-freedom gyroscopes and two dual-axis accelerometers is that the sensitive axis of the gyro is along the normal direction of the six faces of the dodecahedron. The MEMS accelerometer adopts the scheme that two biaxial accelerometers are arranged orthogonally.

[0036]The redundant inertial system has higher accuracy and reliability than the orthogonally configured inertial system. In the case of a micro-inertial device failure, as long as the number of remaining devices (gyroscope / accelerometer) is not less than three, the system can work normally, and the fault tolerance is high.

[0037] The structure of the redundant MEMS-IMU / GPS integrated navigation system is shown in Figure 1. The h...

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Abstract

A micro combined navigate system and a relative self-adaptive filter method belong to inertia navigate system, comprising an abundance distribution inertia measuring unit, a micro GPS receiver, and a navigate computer, wherein the navigate computer comprises a data pick-up, navigate calculation, self-adaptive flat particle filter. And the filter method comprises that first designs a system state equation and a measuring equation, generates state sample particles in prior distribution according to the system state and the self-adaptive theory, then based on UKF filter threshold, judges if the standard decide particles enter into UKF filter, while only refreshes time of the particles not entered into UKF filter, refreshes sample weight, judges if needs resample, processes state fusion on the particles to obtain a state evaluated value. The invention can obtain inertia and navigate property, and process compensation in navigate calculation, while the invention avoids large calculation of flat particle filter, improves the accuracy of navigate system, reduces the error of navigate system, to be used in aviation and aerospace fields or the like.

Description

technical field [0001] The invention relates to a miniature integrated navigation system and an adaptive filtering method, belonging to the field of inertial navigation. Background technique [0002] An important symbol of the development of inertial technology is the development of inertial sensors, which are mainly reflected in the measurement principle, device accuracy and processing technology. Among the new low-cost, miniature IMUs, the representative and promising one is the Micro-Electro-Mechanical System (MEMS) IMU, which is the product of the development of contemporary microelectronics technology and a typical representative of the next-generation IMU. . MEMS inertial sensors are a large category of inertial devices, which are clearly distinguished from other inertial devices by the processing technology of integrated circuits. With the improvement of the performance of MEMS inertial sensors, MEMS INS and integrated navigation systems have greatly expanded the ap...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/18G01S5/14G01S19/49
Inventor 刘建业华冰曾庆化赵伟熊智赖际舟李荣冰黄徽
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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