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Improved derivative volume Kalman filtering integrated navigation method

A technology of Kalman filtering and integrated navigation, which is applied in navigation, navigation through speed/acceleration measurement, surveying and navigation, etc., can solve problems such as divergence and poor accuracy of integrated navigation, reduce redundant calculations, and improve system real-time The effect of sex and robustness

Pending Publication Date: 2022-02-08
南宁桂电电子科技研究院有限公司 +1
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Problems solved by technology

However, the measurement model error caused by the linear truncation of the pseudorange measurement will lead to the deterioration of the integrated navigation accuracy or even divergence.

Method used

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  • Improved derivative volume Kalman filtering integrated navigation method
  • Improved derivative volume Kalman filtering integrated navigation method
  • Improved derivative volume Kalman filtering integrated navigation method

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Embodiment Construction

[0041]Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0042] see Figure 1 to Figure 6 , the present invention provides an improved derivative volumetric Kalman filter integrated navigation method, comprising the following steps:

[0043] Step 1: Load the measured SINS data and GPS system data;

[0044] Step 2: Establish a state space model of the SINS / GPS integrated navigation system;

[0045] Step 3: Initialize the SINS / GPS integrated navigation system;

[0046] Step 4: Perform the time update and measurement update of the derived volumetric Kalman at time k to obtain the error ...

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Abstract

The invention relates to the technical field of navigation positioning and deep learning, and particularly discloses an improved derivative volume Kalman filtering integrated navigation method. The method comprises the following steps: establishing a state equation and a measurement equation according to a tight combination model, performing second-order Taylor expansion on pseudo-range measurement, and reducing measurement models caused by linear truncation. The SINS and GPS integrated navigation system is initialized; in the time updating process, CKF is made to filter in the same mode as KF, extra calculation caused by volume transformation of a state equation with linear characteristics is avoided, in the measurement updating process, a predicted value and a covariance thereof and a cross covariance between a state predicted value and a measurement value are calculated by adopting a volume point, the excellent characteristic of processing the nonlinear filtering problem through the CKF is ensured, and the redundant calculation problem of a tight combination system is solved. According to the method, the filtering precision of the system can be improved, the tracking capability of the filter on the system state is improved, the real-time performance of the system state is improved, and the robustness of the SINS / GPS integrated navigation system is enhanced.

Description

technical field [0001] The invention relates to the technical field of navigation positioning and deep learning, in particular to an improved derived volumetric Kalman filter combined navigation method. Background technique [0002] Modern vehicles put forward higher and higher requirements for the accuracy and reliability of the navigation system, and a single navigation method can no longer meet the requirements. Therefore, it is an inevitable trend that navigation technology develops towards combination. Integrated navigation utilizes the complementarity of INS and GPS, constructing the integrated navigation of the two can overcome their shortcomings, and can provide higher-precision short-term and long-term full navigation parameters. [0003] The compact composite system uses the pseudorange information to construct the measurement value, and the pseudorange information is nonlinear in nature, so the measurement equation of the compact composite system constructed with...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16G01S19/47G01S19/39
CPCG01C21/20G01C21/165G01S19/47G01S19/393
Inventor 孙希延梁维彬鞠涛杜洋付文涛
Owner 南宁桂电电子科技研究院有限公司
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