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A sins/dvl combined navigation filtering method based on 5th order ssrckf

A technology combining navigation filtering and navigation coordinate system, which is applied in the field of navigation and can solve problems such as unusability and decreased accuracy

Active Publication Date: 2020-12-25
SOUTHEAST UNIV
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Problems solved by technology

[0002] The strapdown inertial navigation system can measure the navigation information such as the position, current speed and attitude of the system in real time, and can maintain high precision in a short time. It has the advantages of multiple output signals, strong concealment, strong autonomy, etc., and its system noise Low, but as a system with continuous navigation information, the system error will accumulate over time. If no external navigation information correction is taken, its accuracy will drop rapidly and make it unusable

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  • A sins/dvl combined navigation filtering method based on 5th order ssrckf
  • A sins/dvl combined navigation filtering method based on 5th order ssrckf
  • A sins/dvl combined navigation filtering method based on 5th order ssrckf

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Embodiment Construction

[0063] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings;

[0064] Such as figure 1 As shown, the SINS / DVL combined navigation filtering method based on 5th order SSRCKF (Spherical Simplex-Radial Cubature Kalman Filter, spherical surface minimum phase diameter volumetric Kalman filter) of the present invention comprises the following steps:

[0065] Step 1: Establish the nonlinear error model of SINS (Strap-down Inertial Navigation System, Strap-down Inertial Navigation System): In SINS, select the northeast sky geographic coordinate system as the navigation coordinate system (n), and use the autonomous underwater vehicle (Autonomous Underwater Vehicle) , AUV) establishes the carrier coordinate system (b) by itself, and gives the actual calculation navigation coordinate system (n′), establishes the error model of the inertial device gyroscope and speedometer, and solves the attitude error equation and position ...

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Abstract

The invention discloses an SINS / DVL integrated navigation filtering method based on 5-order SSRCKF. The method specifically comprises the following steps: building a strap-down inertial navigation non-linear error model by taking an underwater aircraft as a research object, and building an integrated navigation model under the assistance of a Doppler velocity sonar; selecting a volume point of CKF according to an SSR rule, and building a non-linear filtering model of the 5-order SSRCKF. By adopting the SINS / DVL integrated navigation filtering method, a standard CKF filtering method is improved by adopting the SSR rule, volume sampling points of the CKF filtering method are reduced at a certain degree, the effect is remarkable in a high-order system, and the problems of poor real-time performance and low efficiency of an algorithm caused by too large number of the volume sampling points in the high-order system in the conventional CKF algorithm are solved.

Description

technical field [0001] The invention belongs to the field of navigation, in particular to a 5th-order SSRCKF-based SINS / DVL combined navigation filtering method. Background technique [0002] The strapdown inertial navigation system can measure the navigation information such as the position, current speed and attitude of the system in real time, and can maintain high precision in a short time. It has the advantages of multiple output signals, strong concealment, strong autonomy, etc., and its system noise However, as a system with continuous navigation information, the system error will accumulate over time. If the external navigation information is not corrected, its accuracy will drop rapidly and become unusable. Contents of the invention [0003] Purpose of the invention: In order to improve the accuracy and stability of AUV integrated navigation, and considering the real-time calculation amount, the present invention proposes a SINS / DVL integrated navigation filtering...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/00
CPCG01C21/005G01C21/165
Inventor 徐晓苏董亚代维
Owner SOUTHEAST UNIV
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