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Distance and environment feature-based navigation system and parameter perturbation solving method thereof

A technology of environmental characteristics and navigation system, applied in navigation calculation tools, navigation through speed/acceleration measurement, etc., can solve problems such as perturbation of integrated navigation system parameters, achieve overcoming model parameter dependence, reliable error prediction performance, and improved The effect of navigation accuracy

Active Publication Date: 2019-06-25
HOHAI UNIV
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Problems solved by technology

[0006] Purpose of the invention: In order to solve the problem of parameter perturbation of the integrated navigation system in the prior art, the present invention provides a navigation system based on distance and environmental characteristics and its parameter perturbation solution

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  • Distance and environment feature-based navigation system and parameter perturbation solving method thereof
  • Distance and environment feature-based navigation system and parameter perturbation solving method thereof
  • Distance and environment feature-based navigation system and parameter perturbation solving method thereof

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0029] like figure 1 , a navigation system based on distance and environmental characteristics, the hardware part includes an inertial navigation system (INS) navigation module, a Doppler log (DVL), and a magnetic sensor. INS navigation module includes accelerometer, gyroscope, DSP. The filters of the algorithm part include a first sub-filter, a second sub-filter and a main filter. The Doppler log is used to provide speed information to the first sub-filter; the magnetic sensor is used to provide position information to the second sub-filter; the two sub-filters are used to accept the navigation information of their corresponding navigation hardware and predict The final navigation information is output to the main filter. The INS navigation module is used to provide acceleration and angular acceleration information to the first sub-filter, ...

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Abstract

The invention discloses a distance and environment feature-based navigation system and a parameter perturbation solving method thereof. The system includes a navigation module, a Doppler velocity log(DVL), a magnetic sensor and a filter, wherein the navigation module is located in an inertial navigation system (INS). Geomagnetic environment information of an underwater navigation area is collected, so that a geomagnetic map can be made on the basis of the underwater navigation area; the original information of the INS navigation module, the Doppler velocity log, and the magnetic sensor is outputted to the filter; the filter is constructed based on an interacting multiple model-based finite pulse filtering / Kalman filtering hybrid robust algorithm; and the filter performs filtering, solvesa parameter perturbation problem, and outputs corrected navigation information, and therefore, navigation is completed. According to the distance and environment feature-based navigation system and the parameter perturbation solving method thereof of the invention, the interacting multiple model method is adopted to solve the parameter perturbation problem; errors caused by the non-synchronizationproblem of the navigation information of each navigation module are effectively reduced; and two filtering modes can be intelligently switched, so that the error prediction performance of the systemis very reliable.

Description

technical field [0001] The invention relates to the field of underwater vehicle navigation devices, in particular to an INS / DVL / geomagnetic integrated navigation system based on distance and environmental characteristics and a method for suppressing parameter perturbation. Background technique [0002] There are abundant species resources and mineral resources in the ocean. To explore and develop ocean resources, underwater vehicles are the most used. At present, the underwater navigation technology suitable for underwater vehicles (AUV) has become one of the hot spots in the field of navigation. Since the underwater application of radio technology is greatly limited, the INS with fully autonomous navigation capability has become an important means of underwater navigation. For small underwater vehicles, due to their cost, size, and weight limitations, they are generally equipped with a medium-precision strapdown inertial navigation system. This navigation system requires e...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
Inventor 黄浩乾孙烨周军钱惠敏卢新彪黄铁史仍笃
Owner HOHAI UNIV
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