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AUV multi-source information fusion method and equipment based on factor graph

A technology of multi-source information fusion and multi-source information, applied in the field of AUV multi-source information fusion based on factor graph, can solve the problems of asynchronous update frequency of navigation information sources, short-term failure, etc., to achieve good flexibility and scalability, The effect of reducing the amount of calculation and improving the navigation performance

Active Publication Date: 2020-02-25
SOUTHEAST UNIV
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Problems solved by technology

[0004] Purpose of the invention: Aiming at the defects of the prior art, the present invention provides a factor graph-based AUV multi-source information fusion method and device to solve the problems of asynchronous update frequency and short-term failure of different navigation information sources in the AUV integrated navigation system, and is suitable for Due to its complex and changeable underwater environment and task requirements

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  • AUV multi-source information fusion method and equipment based on factor graph
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  • AUV multi-source information fusion method and equipment based on factor graph

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[0022] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. The embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0023] In recent years, driven by the demand for all-source navigation, the factor graph method provides a new idea for the information fusion of navigation systems. As a probabilistic graphical model, the factor graph method can visualize the relationship between variables in abstract mathematical problems, and then transform the complex calculation process into message passing and updating on the factor graph to complete the problem solving. A factor graph is a two-way graph model G=(F, X, E) used to express the joint probability distribution of random variables. It includes two types of nodes: one is the factor node f i ∈F, refers to the local function in factorization; the other type is the variable node x j ...

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Abstract

The invention provides an AUV (Autonomous Underwater Vehicle) multi-source information fusion method andequipment based on a factor graph, which are used for realizing navigation and positioning of anAUV integrated navigation system. According to the method, an information fusion problem of the AUV integrated navigation system is converted into a maximum posteriori probability problem for solvingjoint probability distribution of multivariate random variables by utilizing a factor graph theory, and the maximum posteriori probability problem is expressed by using a factor graph model. Optimalestimation of the navigation state is achieved according to transmission and updating of a factor graph message transmission algorithm, namely a sum product algorithm, in a factor graph model of the AUV multi-source information integrated navigation system. The method effectively solves the problems of asynchronization and short-time failure of updating frequencies of different navigation information sources in an AUV integrated navigation system, and is suitable for underwater complex and changeable environments and task requirements.

Description

technical field [0001] The invention relates to the fields of combined navigation and information fusion, in particular to a factor graph-based AUV multi-source information fusion method and device. Background technique [0002] Autonomous Underwater Vehicle (AUV) is of great significance in marine resource exploration, marine environmental protection and utilization, marine military and rescue, etc. The AUV navigation system can provide real-time navigation information such as attitude, speed, and position. Accurate and reliable navigation information is an important guarantee for the AUV to successfully complete its mission. Due to the lack of error accumulation over time in pure inertial navigation systems, at present, the most common way to correct the cumulative error of a strapdown inertial navigation system (Strapdown Inertial Navigation System, SINS) is to fuse the auxiliary information provided by a variety of underwater navigation sensors, that is, AUV multi-source...

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Application Information

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IPC IPC(8): G06K9/62G06F30/20G06Q10/04
CPCG06Q10/04G06F18/25G06F18/29
Inventor 刘锡祥马晓爽李晨龙赵苗苗张玉鹏
Owner SOUTHEAST UNIV
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