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Nonlinear filtering method for underwater navigation

A non-linear filtering and auxiliary navigation technology, which is applied in navigation, surveying and mapping, navigation, measuring devices, etc., can solve the problem that the weak solution equation of the navigation stochastic differential model is difficult to obtain, and achieves increased edge sharpness and high estimation Accuracy, good tracking effect

Active Publication Date: 2011-11-23
HARBIN ENG UNIV
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Problems solved by technology

[0009] The purpose of the present invention is to solve the problem that the weak solution of the weak solution equation of the navigation stochastic differential model established in the background of the underwater terrain navigation system is difficult to obtain, and proposes a nonlinear filtering method for underwater navigation , using a cubic spline interpolation function to approximate its solution in pieces, the prior probability density function of the state can be obtained, and then the posterior probability density function of the state is obtained by the Bayesian formula, and the construction of the cubic spline interpolation condition is also solved To achieve better tracking of system state changes, with high estimation accuracy, convergence speed and convergence smoothness

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[0027] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0028] The present invention is a kind of non-linear filter method for underwater navigation, purpose is to utilize the advantage of the filter method based on Bayesian estimation, provide a kind of cubic spline interpolation method of approaching the weak solution of navigation stochastic differential model in sections, thereby effectively It is ensured that it can better track the change of the system state, and the nonlinear filtering method of the present invention has high estimation accuracy, convergence speed and convergence smoothness.

[0029] Taking the underwater terrain-assisted navigation system as the background, the motion state of the submersible can be represented by a random process x(t), assuming that for time t∈[0,∞), all x(t) are defined in a fixed probability space ( Ω, F, P), where Ω is a non-empty set called a sample space whos...

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Abstract

The invention discloses a nonlinear filtering method for underwater navigation, and is used to solve a weak solution from a random differential model of underwater terrain navigation. According to the invention, segmental approach to a weak solution of a navigation random differential model is performed by using a cubic spline interpolation function so as to obtain a prior probability density function of a state, wherein difficult problems for constructing a cubic spline interpolation point are solved by using a forward Kolmogorov equation, and a posterior probability density function of the state is obtained by a Bayes formula. The method of the invention makes full use of the cubic spline interpolation, has the characteristics of simple calculation, good stability, guaranteed convergence, easy realization on computers, and guaranteed smoothness of a whole curve, can track various possibility of the system state better, has extremely high estimation accuracy, convergence speed, and convergence smoothness, and can track the change of the system state well.

Description

technical field [0001] The invention relates to the research field of underwater terrain aided navigation, in particular to a nonlinear filtering method for underwater navigation that uses a piecewise function to approximate the weak solution of a navigation stochastic differential model under a nonlinear system with non-Gaussian noise. Background technique [0002] Precise navigation technology is one of the key technologies to ensure the effective utilization and safe recovery of underwater vehicles. At present, most underwater terrain-assisted navigation systems use the combination of inertial navigation and Doppler log, supplemented by integrated navigation technology such as GPS, gravity, terrain and other correction information. Filtering is the operation of filtering out the frequency of a specific band in the signal. It is an important measure to suppress and prevent interference. However, due to the complex underwater working environment and many uncertain factors, ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
Inventor 赵玉新陈立娟李刚刘厂张振兴
Owner HARBIN ENG UNIV
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