Adaptive filtering-based SINS/GNSS (strapdown inertial navigation system/global navigation satellite system) multistage fault-tolerant integrated navigation method

The invention discloses an adaptive filtering-based SINS/GNSS (strapdown inertial navigation system/global navigation satellite system) multistage fault-tolerant integrated navigation method, which comprises the following steps: I, SINS/GNSS integrated navigation system mathematical model building,...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: MA YANBIN, YUAN YIQIN, CHANG YAOWEI, CHEN SHUAI, KONG JIANSHOU, BO YUMING, CHENG CHEN, LEI HAORAN, XU QINLI, LIU YALING, WANG YUKUN, DING CUILING, XUE XIAOZHONG, LI XI'AN, QIN LEI, SHAN TONG, ZHANG LI
Format: Patent
Sprache:chi ; eng
Schlagworte:
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:The invention discloses an adaptive filtering-based SINS/GNSS (strapdown inertial navigation system/global navigation satellite system) multistage fault-tolerant integrated navigation method, which comprises the following steps: I, SINS/GNSS integrated navigation system mathematical model building, namely, establishing an SINS error equation, performing information fusion on an SINS subsystem and a GNSS subsystem by utilizing an adaptive Kalman filtering method, estimating all error amounts of an SINS and performing feedback correction on the error amounts; II, subsystem state judgment, namely, judging the working state of the SINS subsystem according to a gyroscope sampled value and an accelerometer sampled value of the SINS, and judging the working state of the GNSS subsystem according to an output measurement value of a GNSS; and III, navigation decision matching, namely, performing navigation decision matching processing according to the working state of the SINS subsystem and the working state of the GNS