Dynamic filtering method for inertial/satellite integrated navigation based on state transformation

A technology of state transformation and integrated navigation, applied in satellite radio beacon positioning system, radio wave measurement system, instrument, etc., can solve the problem of inconsistent variance estimation of inertial-based integrated navigation system, so as to prevent inconsistent variance estimation and improve accuracy , the effect of strong flexibility and applicability

Active Publication Date: 2021-02-05
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0004] Aiming at the problem of inconsistent variance estimation of inertial-based integrated navigation systems in the prior art, the present invention provides a dynamic filtering method for inertial / satellite integrated navigation based on state transformation, so as to improve the initial alignment of strapdown inertial navigation and the accuracy of integrated navigation

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  • Dynamic filtering method for inertial/satellite integrated navigation based on state transformation
  • Dynamic filtering method for inertial/satellite integrated navigation based on state transformation
  • Dynamic filtering method for inertial/satellite integrated navigation based on state transformation

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Embodiment Construction

[0069] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the spirit of the disclosure of the present invention will be clearly described below with the accompanying drawings and detailed descriptions. Any person skilled in the art will understand the embodiments of the present invention. , when it can be changed and modified by the technology taught in the content of the present invention, it does not depart from the spirit and scope of the content of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.

[0070] figure 1 is the flow chart of this embodiment, figure 2 with image 3 It is the result of a laser gyro IMU / satellite integrated navigation sports car experiment.

[0071] Specifically include the following steps:

[0072] Step 1, initialize data.

[0073] The inertial / satellite...

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Abstract

The invention belongs to the field of integrated navigation filtering and provides a dynamic filtering method for inertial / satellite integrated navigation based on state transformation, aiming at improving the precision of inertial / satellite integrated navigation. First, the satellite receiver and the SINS output their respective data information; then, according to the data information output by the satellite receiver and the SINS, the inertial / satellite initial alignment model is established, and the initial alignment based on the state transition Kalman filter is completed. alignment. Finally, establish the inertial / satellite integrated navigation model, complete the inertial / satellite integrated navigation based on the state transformation Kalman filter, and output the attitude, speed, and position information of the integrated navigation. The invention can improve the initial alignment accuracy and combined navigation accuracy of the strapdown inertial navigation carrier platform in complex environments. The method proposed by the invention does not need to know the observability of the integrated navigation system in advance, and has strong engineering application flexibility and applicability.

Description

technical field [0001] The present application relates to the technical field of integrated navigation filtering, in particular to a state transformation-based inertial / satellite integrated navigation dynamic filtering method applicable to complex environments. Background technique [0002] As the application environment of unmanned vehicles, low-altitude drones and other carriers becomes more and more complex, and the scope of application becomes wider and wider, it is imminent to realize high-precision autonomous navigation of unmanned vehicles, low-altitude drones and other carriers in complex environments. However, the inertial / satellite integrated navigation filtering method under the traditional Kalman filtering framework is prone to the problem of inconsistent variance estimation, that is, the accuracy of the integrated navigation system cannot be fully utilized when the sensors are all working normally. [0003] How to solve the problem of inconsistent variance estim...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/47G01S19/37
CPCG01S19/37G01S19/47
Inventor 王茂松吴文启何晓峰潘献飞
Owner NAT UNIV OF DEFENSE TECH
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