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Navigation method and device based on extended Kalman filter

A technology for extended Kalman and navigation methods, applied in the field of navigation methods and devices based on extended Kalman filtering, which can solve problems such as long execution time, large memory space, and consumption

Inactive Publication Date: 2012-06-27
SOUTH CHINA UNIV OF TECH
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  • Summary
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the Kalman filtering algorithm is very mature, most of the current algorithms only support filtering processing of a few states.
Since matrix operations are frequently used in the algorithm, including matrix multiplication, addition and subtraction, and inversion, if you follow the ordinary algorithm, it will consume a lot of memory space, and the execution time is long and the efficiency is low.

Method used

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  • Navigation method and device based on extended Kalman filter
  • Navigation method and device based on extended Kalman filter
  • Navigation method and device based on extended Kalman filter

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Embodiment Construction

[0105] The present invention will be further described below in conjunction with the embodiments and drawings, but the implementation of the present invention is not limited thereto.

[0106] Such as Figure 2-4 Shown, the embodiment of the present invention adopts arm7 (three-stage pipeline with 0.9MIPS / MHz and Von Neumann structure) series microprocessor, the inertial measurement unit IMU that the model is ADIS16350 and the electronic compass COMPASS that the model is PNI11096.

[0107] figure 1 It is a structural block diagram of a navigation system device, including a data acquisition module, a data processing system, an extended Kalman filter and a data feedback module.

[0108] The data acquisition module is composed of inertial measurement unit IMU, electronic compass COMPASS and global positioning system. Use IMU to get angular velocity and linear acceleration. The IMU data is obtained through the SPI port. When reading the data in the sensor, first give the regist...

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Abstract

The invention discloses a navigation method and device based on extended Kalman filter. By building a model, including a state model, a state transition model and an observation model, for an actual navigation system, the filtering process in the navigation method is subjected to stagewise optimization and matrix operation is improved. Relationship and independency among eleventh order parameters are analyzed, matrix operation is studied and the system is split, so as to achieve short operation period, reduce calculation amount, save memory space, improve efficiency and lower requirements for hardware.

Description

technical field [0001] The present invention is applicable to the field of navigation systems requiring high real-time performance and high precision, and is especially suitable for a navigation method and device based on extended Kalman filtering to obtain high-precision results with low-cost equipment. Background technique [0002] The main function of the navigation system is to provide real-time position, speed, and attitude information, and to make it walk according to a preset path. However, due to many external interferences, the useful signal is mixed with a lot of noise, and Kalman filtering can solve such problems. Kalman filtering is a recursive estimation. As long as the estimated value of the previous state and the observed value of the previous state are known, the estimated value of the current state can be calculated, so there is no need to record historical information of observations or estimates. The Kalman filter fuses position, velocity, and attitude an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
Inventor 裴海龙申文斌张铖
Owner SOUTH CHINA UNIV OF TECH
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