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Improved robust unscented Kalman filter integrated navigation method

An unscented Kalman and integrated navigation technology, applied in the field of integrated navigation, can solve the problems of low filtering accuracy, poor positioning accuracy, and poor ability to handle outliers, and achieve strong environmental adaptability, high positioning accuracy, and strong self-adaptation sexual effect

Inactive Publication Date: 2020-11-06
HARBIN ENG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to propose an improved robust unscented Kalman filter combined navigation method for the low filtering precision in the prior art, which leads to poor positioning precision and poor processing ability for outliers.

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specific Embodiment approach 1

[0067] Specific implementation mode one: refer to figure 1 Specifically illustrate this embodiment, a kind of improved robust unscented Kalman filter combined navigation method described in this embodiment, comprises the following steps:

[0068] (1) Collect data output by UWB system and MEMS system;

[0069] (2) Select the state quantity and observation quantity, and establish the state space model of the UWB / MEMS integrated navigation system;

[0070] (3) UWB / MEMS combined system filter initialization;

[0071] (4) Time update. Calculate the predicted value and covariance of the system state at time k from the estimated value and covariance of the state at time k-1;

[0072] (5) Sigma point selection. Select a set of weighted Sigma points according to the state prediction value and its covariance;

[0073] (6) Measurement update. Use the Sigma point transformed by the nonlinear measurement equation to update the measurement, and obtain the error covariance of one-step ...

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Abstract

The invention discloses an improved robust unscented Kalman filter integrated navigation method, and relates to the technical field of integrated navigation. In the prior art, filtering precision is low, consequently, positioning precision is poor, and outlier processing capacity is poor. A purpose of the invention is to solve the problems in the prior art. According to the method, a UWB / MEMS tightly-combined mathematical model is established according to UWB and MEMS inertial navigation positioning principles, and compared with a conventional UWB / MEMS loosely-combined model, the UWB / MEMS tightly-combined mathematical model is higher in positioning precision and stronger in environmental adaptability. According to the invention, aiming at measurement of abrupt change noise and outliers, measurement error criteria are introduced on the basis of a traditional robust algorithm, and the outlier processing capacity is enhanced; and aiming at the problem that a traditional robust algorithm is poor in partial observation interference adjustment capability, and in combination with the actual situation of UWB ranging errors, the invention provides a calculation method of a multi-robust adaptive matrix, wherein the calculation method adjusts a filtering gain matrix in real time according to different error situations of measurement, so that a filter has higher adaptability.

Description

technical field [0001] The invention relates to the technical field of integrated navigation, in particular to an improved robust unscented Kalman filter integrated navigation method. Background technique [0002] In recent years, with the development of science and technology and the change of people's life, location-based services (Location-based services, LBS) have a wide range of application backgrounds in industry and market. Nowadays, the global navigation satellite system (Global Navigation Satellite System, GNSS) develops rapidly, and it can provide users with high-precision location services in an outdoor environment. However, in indoor environments, GNSS signals are easily blocked, making it impossible for users to achieve normal navigation and positioning through GNSS. At the same time, most human activities take place indoors. High-precision indoor positioning services can provide users with networked services such as route navigation, product shopping guidance,...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/206G01C21/165
Inventor 王伟龚佳承李欣薛冰黄平
Owner HARBIN ENG UNIV
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