Navigation system based on distance and environment features and its parameter perturbation solution

A technology of environmental characteristics and navigation systems, applied in navigation calculation tools, navigation through velocity/acceleration measurement, etc., can solve problems such as parameter perturbation of integrated navigation system, and achieve the goal of overcoming model parameter dependence, solving parameter perturbation, and error prediction. Evaluate the effect of reliable performance

Active Publication Date: 2021-04-06
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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  • Navigation system based on distance and environment features and its parameter perturbation solution
  • Navigation system based on distance and environment features and its parameter perturbation solution
  • Navigation system based on distance and environment features and its parameter perturbation solution

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Embodiment Construction

[0028] The present invention will be further described below with reference to 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 velocity 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 receive the navigation information of their corresponding navigation hardware and estimate the The post 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-fi...

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Abstract

The invention discloses a navigation system based on distance and environmental characteristics and a parameter perturbation solution method thereof, including a navigation module, a Doppler log (DVL), a magnetic sensor and a filter in an inertial navigation system (INS). First collect the geomagnetic environment information of the underwater navigation area to make a geomagnetic map, and the INS navigation module, Doppler log, and magnetic sensor output the original navigation information to the filter, which is based on the interactive multi-model finite pulse filter / The Kalman filter hybrid robust algorithm is constructed, the filter is used to filter and solve the problem of parameter perturbation, and the corrected navigation information is output to complete the navigation. Because the present invention adopts the method of interactive multi-model to solve the problem of parameter perturbation, the error caused by the asynchronous problem of navigation information of each navigation module is effectively reduced, and the intelligent switching of the other two filtering methods makes the error prediction performance of this system 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 thereof. Background technique [0002] The ocean is rich in species resources and mineral resources. To explore and develop marine resources, underwater vehicles are the most utilized. At present, the underwater navigation technology suitable for underwater vehicle (AUV) has become one of the hotspots in the field of navigation. Since the underwater application of radio technology is greatly restricted, the INS with fully autonomous navigation capability has become an important means of underwater navigation. For small underwater vehicles, due to their cost, volume, and weight constraints, they are generally equipped with a strap-down inertial navigation system with medium precision. This navigation system...

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Application Information

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Patent Type & Authority Patents(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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