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Combined navigation method of joint entropy extended Kalman filter based on strong tracking

An extended Kalman, integrated navigation technology, applied in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problem of not considering model uncertainty and so on

Inactive Publication Date: 2016-07-06
ZHENGZHOU UNIVERSITY OF AERONAUTICS
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Problems solved by technology

However, it does not consider the uncertainty of the model. Aiming at the uncertainty of this model, based on the strong tracking theory, the fading factor is introduced into the correlation entropy Kalman filter algorithm, and a correlation entropy expansion Kalman filtering algorithm based on strong tracking is proposed. The SINS / GNSS integrated navigation method of Mann filtering can effectively solve the nonlinear problem of the SINS / GNSS integrated navigation system and the non-Gaussian problem of the noise statistical characteristics, which improves the accuracy of the SINS / GNSS integrated navigation

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  • Combined navigation method of joint entropy extended Kalman filter based on strong tracking
  • Combined navigation method of joint entropy extended Kalman filter based on strong tracking
  • Combined navigation method of joint entropy extended Kalman filter based on strong tracking

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[0074] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0075] An integrated navigation method based on strong tracking correlation entropy extended Kalman filter, its flow chart is as follows figure 1 shown, including the following five steps:

[0076] Step 1. Establish the dynamic equation of the SINS / GNSS integrated navigation system

[0077] In the northeast sky geographic coordinate system, the dynamic equation of the SINS / GNSS integrated navigation system is

[0078] φ · E = ( ω i e sin L + ...

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Abstract

The invention discloses a combined navigation method of joint entropy extended Kalman filter based on strong tracking. The combined navigation method comprises the following steps of: establishing a state equation of an aircraft navigation system; establishing a kinetic equation of an SINS / GNSS combined navigation system; establishing a measurement equation of the SINS / GNSS combined navigation system; dispersing the kinetic equation and measurement equation of the SINS / GNSS combined navigation system; linearizing a nonlinear dispersion kinetic equation; by adopting a joint entropy extended Kalman filter algorithm based on strong tracking, outputting information of SINS / GNSS combined navigation according to the linearized kinetic equation. As fading factors in the strong tracking theory are introduced into the joint entropy extended Kalman filter algorithm, model uncertainty of a non-linear SINS / GNSS combined navigation system and non-gaussian problem of noise statistical characteristics are effectively solved, the navigation precision can be improved, and the stability of the navigation process can be improved.

Description

technical field [0001] The invention belongs to the technical field of integrated navigation, and in particular relates to an integrated navigation method based on strong tracking correlation entropy extended Kalman filtering, which can be used to improve the accuracy of SINS / GNSS integrated navigation systems of aircraft, missiles, ships, and ground vehicles. Background technique [0002] High-precision integrated navigation has always been a key issue in the field of navigation. In order to obtain higher navigation accuracy, scholars and industrialists are committed to finding robust and high-precision filtering methods for estimating the position, velocity, and attitude of the carrier. [0003] The strapdown inertial navigation system (Serialinertialnavigationsystem, SINS) is mainly based on the calculation process of the quadratic integral of acceleration, which has good autonomy and a large amount of navigation information, but the navigation accuracy becomes poor after...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G01S19/47
CPCG01C21/165G01C21/20G01S19/47
Inventor 靳攀齐艳珂马淑芳魏峰窦小磊娄泰山
Owner ZHENGZHOU UNIVERSITY OF AERONAUTICS
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