Optimization method of SINS/DVL tightly integrated navigation based on the ST-EKF under beam fault conditions

被引：0

作者：

Ran C. ^{[1
,2
]}

Zhu Z. ^{[3
,4
]}

Wang W. ^{[3
,4
]}

Luo Z. ^{[1
,2
]}

Zhu Y. ^{[5
]}

机构：

[1] Hubei Engineering Research Center of Weak Magnetic-field Detection, China Three Gorges University, Yichang

[2] College of Science, China Three Gorges University, Yichang

[3] Hubei Key Laboratory of Intelligent Vision Monitoring for Hydroelectric Engineering, Yichang

[4] College of Computer and Information Technology, China Three Gorges University, Yichang

[5] School of Mechanical Engineering, Nantong University, Nantong

来源：

Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2023年 / 31卷 / 10期

关键词：

beam Doppler frequency shift reconstruction; particle swarm optimization; state transformation extend Kalman filter; strapdown inertial navigation system/Doppler velocity log tightly coupled navigation;

D O I：

10.13695/j.cnki.12-1222/o3.2023.10.006

中图分类号：

学科分类号：

摘要：

Aiming at the problem that when the beam fault occurs in the strapdown inertial navigation system/Doppler velocity log (SINS/DVL) tightly integrated navigation system based on extend Kalman filter (EKF), the fault processing scheme using beam frequency shift information reconstruction will cause the change of measurement noise characteristics and result in the reduction of navigation accuracy, an optimization method of SINS/DVL tightly integrated navigation based on state transformation extend Kalman filter (ST-EKF) under beam fault conditions is proposed. According to the structural characteristics of the four-beam Janus array, an objective function suitable for the tightly integrated navigation system is proposed, and the system noise covariance matrix and measurement noise covariance matrix are optimized by particle swarm optimization algorithm. The simulation results show that compared with the SINS/DVL tightly integrated navigation system based on EKF, the positioning accuracy of the proposed method is improved by 70.4%, which effectively improves the navigation accuracy of the integrated system under the condition of beam fault. © 2023 Editorial Department of Journal of Chinese Inertial Technology. All rights reserved.

引用

页码：996 / 1003

页数：7

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