An improved multi-boat cooperative navigation method based on MEMS

The invention is a method for improving the positioning precision of unmanned ship cooperative navigation based on MEMS gyro, which is applied to the gyro error rapid 5 compensation of the micro-electromechanical system. The invention includes: establishment of forward filtering model, storage of forward filtering data, establishment of inverse filtering system model, establishment of inverse filtering measurement model and forward filtering using the established system model and measurement model. In this invention, the error of the MEMS gyroscope measuring the 10 heading is expanded into a state vector, so that the error can be compensated more effectively during the filtering process. Inverse filtering is simple and easy to implement in the collaborative navigation model. It only needs to change the sign of the speed v and use the data stored in the forward filtering in the reverse direction, including the position derived from the boat's navigation and the distance between the master and 15 slave. In addition, inverse filtering can repeatedly use a small piece of data that has been stored, without collecting more data, which significantly improves the speed of filter estimation and computer calculation. (Fig. 1)