Integrated navigation method based on fault-tolerant Kalman filtering
A Kalman filter and Kalman filter technology, applied in the field of integrated navigation, can solve problems such as fault tolerance performance to be improved, weak anti-interference ability, etc., and achieve the effect of improving the utilization degree and improving the robust performance.
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Specific embodiment one:
[0061] The purpose of the present invention is to provide an integrated navigation method based on fault-tolerant Kalman filtering. It is aimed at the SINS / GPS / Doppler multi-integrated navigation system. The structure diagram of the system is as follows figure 1 Shown. among them figure 2 For the federated Kalman filter structure with reset and image 3 It is a federated Kalman filter structure without reset. The present invention is optimized on the structure of a federated Kalman filter without reset, and a fault-tolerant Kalman filter and a fault detection function are added to one of the sub-filters.
[0062] The technical scheme adopted by the present invention includes the following steps:
[0063] Step 1, choose As a state variable,
[0064] among them: δλ: Inertial navigation system latitude and longitude error;
[0065] δV x ,δV y : The speed error of the inertial navigation system in the east and north directions of the geographic coordinate
Example Embodiment
Specific embodiment two:
[0116] The purpose of the present invention is to provide an integrated navigation method based on fault-tolerant Kalman filtering. Aiming at the SINS / GPS / Doppler multi-integrated navigation system, the technical scheme adopted by the present invention includes the following steps:
[0117] Step 1, choose As a state variable,
[0118] among them: δλ: Inertial navigation system latitude and longitude error;
[0119] δV x ,δV y : The speed error of the inertial navigation system in the east and north directions of the geographic coordinate system;
[0120] ε x ε y ε z : Random error of first-order Markov process of gyro;
[0121] αβλ: platform error angle of east, north and sky direction of strapdown inertial navigation in geographic coordinate system;
[0122] Then, according to the system characteristics, list the state equation of the system:
[0123] The SINS / GPS subsystem selects position and speed as quantity measurement,
[0124] which is
[0125] Wher
Example Embodiment
Specific embodiment three:
[0164] The invention discloses an integrated navigation method based on fault-tolerant Kalman filtering. This method is aimed at an inertial / satellite / Doppler integrated navigation system, which consists of two sub-filters and a main filter. The invention carries out a fault-tolerant design for the inertial / satellite navigation subsystem, and adds a fault-tolerant Kalman filter to improve its anti-interference ability. When the system state model and the prior information are known, the conventional Kalman filter is first used for state estimation, and then a fault detection is performed. When there is no fault, it is directly sent to the main filter for data fusion; if a fault occurs, The fault-tolerant Kalman filter is used to replace the sub-filter, and return to the fault point to perform state estimation again. The output data undergoes a fault detection again, and when there is no fault, it is sent to the main filter for data fusion. When
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