Error parameter identification co-localization method based on factor graph

A technology of error parameters and collaborative positioning, applied in positioning, measuring devices, instruments, etc., can solve the problem of self-positioning error increase

Active Publication Date: 2021-07-23
HARBIN INST OF TECH
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Problems solved by technology

Without considering the lateral motion of the AUV, according to the mathematical model of the system, when using the measured speed and heading to calculate the position, the speed error and heading error will have a great impact on the position estimation of the AUV, resulting in an increase in the error of self-positioning. big

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  • Error parameter identification co-localization method based on factor graph
  • Error parameter identification co-localization method based on factor graph
  • Error parameter identification co-localization method based on factor graph

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Embodiment Construction

[0133] The present invention will be described in detail below in conjunction with specific implementation examples.

[0134] The present invention proposes a method for identifying and co-locating error parameters based on a factor graph. The method uses the maximum correlation entropy criterion to transmit information between function nodes and variable nodes in the factor graph, and identifies the co-location system from The process error of the boat includes speed error and heading error, and the growth of positioning error is suppressed by compensating the process error, and the autonomous positioning ability of the slave boat is improved. The object of the present invention is achieved through the following steps:

[0135] 1. Establish a factor graph model of error parameter identification and collaborative positioning method;

[0136] 2. Use the maximum correlation entropy criterion to identify the speed error and heading error of the system;

[0137] 3. Compensate th...

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Abstract

The invention provides an error parameter identification co-localization method based on a factor graph. The method comprises the following steps: firstly, establishing an error parameter identification factor graph model, then carrying out error parameter identification on a process error containing a speed error and a course error, and carrying out information transmission between a function node and a variable node in a factor graph by utilizing a maximum correlation entropy criterion to realize error compensation of the speed and the course of a slave boat, and finally, filtering fusion estimation of the position state information of the slave boat is realized. Under the condition that the measurement precision of an inertial device in the system is not changed, the process error is identified and compensated, so that the co-positioning error is reduced, and the positioning capability of the co-positioning system is improved.

Description

technical field [0001] The present invention relates to autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV) collaborative positioning technology, more precisely, it is a method of using the maximum correlation entropy criterion to transfer information between function nodes and variable nodes in a factor graph, and identify During the operation of the cooperative positioning system, the process error of the slave ship includes speed error and heading error, and the growth of the positioning error is suppressed by compensating the process error, so as to improve the autonomous positioning capability of the slave ship. Background technique [0002] AUV has the advantages of large range of activities, strong mobility, and high degree of intelligence. It has great value in marine surveys, marine resource exploration, underwater search and rescue, diving support, and military reconnaissance. For the marine field, AUV-related technologies are a mainstream trend and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/18
CPCG01S5/18
Inventor 张亚范世伟王庆鑫魏健雄高伟
Owner HARBIN INST OF TECH
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