Multi-sensor data fusion navigation system for unmanned ship and design method of system

Abstract

The invention discloses a multi-sensor data fusion navigation system for an unmanned ship and a design method of the system. The navigation system comprises a global positioning system data collectionunit, an inertial navigation system data collection unit, a data prepossessing unit, a strapdown solution unit, a data fusion unit and an output unit. According to the system, by adopting a method based on a nonlinear observer, the position and speed state of the unmanned ship are estimated, the parameter adjustment process is simplified, and the convergence characteristic of the designed data fusion method is more definite. According to the data fusion method for the navigation system, speed information measured by the speed sensor is not needed, the position and speed information of the unmanned ship can be estimated jus through fusion of the position and acceleration information, application of the sensor is reduced, the cost is lowered, and the diversity of noise interference of the sensor is reduced. According to the system, the measurement information with measurement noise can be effectively integrated, and the actual position and speed information is acquired.

Description

technical field [0001] The invention relates to the field of unmanned ship navigation system design, in particular to a navigation system for multi-sensor data fusion of unmanned ships and a design method thereof. Background technique [0002] Surface unmanned ship navigation is an important part of the study of surface unmanned ship technology, and it plays an irreplaceable role in the application of surface unmanned ships. Unmanned ship navigation is when the unmanned ship moves in the external environment, using related sensors (radar, inertial system, global satellite navigation system, magnetic compass, visual sensor, log, etc.) to obtain the position, speed and attitude of the unmanned ship information, and then determine the direction and speed of movement. The acquisition of the attitude information of the unmanned ship is the key to realize the basic motion and intelligent motion of the unmanned ship, and it is a necessary guarantee to ensure the safety of marine o...

AI Technical Summary

Problems solved by technology

However, the existing technology has the following deficiencies: First, the use of multiple sensors will make the noise more diverse and complex. The current commonly used methods do not consider the noise interference of sensor measurement data, and cannot effectively overcome the noise interference of multiple sensors in different environments. Interference to the system in the environment will lead to inaccurate navigation data, which may cause serious consequences; second, the data fusion algorithm for the attitude acquisition of the existing unmanned ship navigation system mainly focuses on aspects related to the design of the Kalman filter. There are disadvantages in the design of the navigation system, such as large amount of calculation, difficult parameter adjustment and unclear convergence properties.

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