Unmanned ship position and speed estimation structure containing measurement noise and design method

Abstract

The invention discloses an unmanned ship position and speed estimation structure and a design method. The structure comprises an accelerometer unit, a gyroscope unit, a magnetometer unit, a global positioning system signal acquisition unit, a coordinate system conversion unit, a state recombining unit, a comparing unit, an inertia navigation system data resolving unit and a nonlinear observer navigation filtering algorithm unit. According to the unmanned ship position and speed estimation structure disclosed by the invention, the unmanned ship position and speed information containing measurement noise is utilized, multi-sensor information fusion treatment is performed through a method based on a nonlinear observer, and actual unmanned ship position and speed information can be estimated;thus, not only is the convergence characteristic of the designed nonlinear observer is more accurate, but also convenience is brought to a parameter adjusting process, and the calculated amount is reduced. According to the unmanned ship position and speed estimation structure disclosed by the invention, the problem of measurement noise of the sensor is taken into consideration, the actual positionand speed information can be obtained from the state information with the measurement noise, more continuous and more stable navigation data can be formed, and estimation of a course angle can be more accurate.

Description

technical field [0001] The invention relates to a method for estimating the position and speed of an unmanned ship on the water surface with measurement noise, in particular to a design method for estimating the position and speed state information of the unmanned ship by a nonlinear observer for an under-actuated unmanned ship, which belongs to the unmanned ship on the water surface Man-ship multi-sensor information fusion technology field. Background technique [0002] Surface unmanned ship is a kind of unmanned marine vehicle, which has the advantages of small size, low cost, strong flexibility and high concealment, and can be equipped with advanced navigation control system, reliable communication system, high-precision sensor system and weapon system, etc. Different functional modules can complete tasks such as ocean development and ocean transportation, and have been widely researched and applied in military and civilian fields. In terms of research content of unmanne...

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Problems solved by technology

[0003] In the method of estimating the state information of the position and velocity of unmanned ships, some research results have been obtained at home and abroad. In terms of structure and design, the existing technologies have the following shortcomings: First, most of the existing methods for estimating the position and velocity of unmanned ships It is designed through the Kalman filter, which has disadvantages such as large amount of calculation, difficulty in tuning parameters, and unclear convergence properties of nonlinear systems; second, many other existing methods combine the Kalman filter with intelligent control algorithms, which have Disadvantages that are not easy to implement in ordinary single-chip microcomputers

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