Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Partial feedback filter method for integrated navigation system

A combined navigation system and partial feedback technology, applied in the field of navigation algorithms, can solve problems such as filter failure, variance matrix distortion, and difficulty in real-time adjustment of filters, and achieve strong adaptability and improved accuracy

Inactive Publication Date: 2019-03-15
SHAANXI AEROSPACE TIMES NAVIGATION EQUIP CO LTD
View PDF3 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if the Kalman filter modeling is inaccurate or interference occurs, it is difficult to adjust the filter estimation in real time, and it is prone to serious distortion or even overflow of the variance matrix, which will eventually lead to filtering failure and loss of integrated navigation function

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Partial feedback filter method for integrated navigation system
  • Partial feedback filter method for integrated navigation system
  • Partial feedback filter method for integrated navigation system

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment

[0020] Specific embodiments: the integrated navigation system adopts linear Kalman filter to filter the observations, and it is necessary to establish the Kalman filter state transition equation and measurement equation of the integrated navigation.

[0021] (1) State transition equation

[0022] X=[φ e φ n φ u δV e δV n δV u δL δλ δH ε x ε y ε z ▽ x ▽ y ▽ z ] T

[0023] The error of the inertial navigation output parameters is taken as the state estimator, and the parameters are: 3 inertial navigation platform angle errors, 3 receiver velocity errors, 3 receiver position errors, 3 gyroscope three-axis zero bias errors and 3 Accelerometer three-axis zero bias error, a total of 15 state estimation parameters.

[0024] (2) Measurement equation

[0025] In integrated navigation, the difference between the positioning and speed-fixing results given by the GPS receiver and the positioning and speed-fixing results of the inertial navigation system is used a...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

A partial feedback filter method for an integrated navigation system involves a GPS receiver, an inertial navigation system and an integrated filter. The method comprises the following steps: treatingthe speed and location information error of the GPS receiver and the inertial navigation system as kalman filter estimation value; multiplying kalman filter estimation value by a number factor a through an integrated filter; then feeding back to the inertial navigation system for parameter correction; converting a primary attitude matrix and a quaternion through the inertial navigation system toobtain a primary quaternion matrix; outputting and correcting the primary quaternion matrix of the inertial navigation system through the integrated filter; and calculating the output result of the integrated navigation system. With the adoption of the method, the location output accuracy of the navigation system is improved; the kalman filter variance matrix is limited; the output result is out of distortion; and the adaptability is improved.

Description

technical field [0001] The invention relates to the technical field of navigation algorithms, in particular to a partial feedback filtering method used in an integrated navigation system. Background technique [0002] The integrated navigation algorithm is the core technology in the integrated navigation system, which not only determines whether the function of the entire navigation system can be realized, but also plays a decisive role in the performance of the entire integrated navigation system. [0003] The integrated navigation algorithm generally uses the Kalman filter to estimate and eliminate the system error from the perspective of optimal probability and statistics. During the integrated navigation process, the state estimation value of the Kalman filter needs to be continuously fed back to the inertial navigation system for inertial navigation correction. The traditional feedback method is: select some states to participate in the feedback, feed back the estimated...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王伟东
Owner SHAANXI AEROSPACE TIMES NAVIGATION EQUIP CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com