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,...
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Format: | Patent |
Sprache: | chi ; eng |
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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 |
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