Research On Design And Information Fusion Technology Of Ship Integrated Navigation Information System

At present,navigation equipment is becoming more and more demanding in the maritime field.How to utilize and process the data from multiple navigation devices effectively and ensure the accuracy and reliability of marine navigation has become the main problem of marine integrated navigation information system.This paper mainly studies the fusion and display technology of the output information of the ship's key navigation equipment,and designs the integrated navigation information system with SINS/GNSS/CNS integrated navigation as the core.Finally,the software of the integrated navigation information system was realized,which laid the foundation for the construction of a complete set of ship navigation system.Firstly,the working principle and error characteristics of common navigation devices are introduced,and the corresponding error equations are established.Then,the research of marine navigation information fusion technology is introduced,and adaptive interval Kalman filter algorithm is introduced.According to the complementary characteristics of different marine navigational equipments,the corresponding equipment combination model is constructed.Finally,the simulation results verify the effectiveness of the algorithm.Secondly,the theory of federated Kalman filter is introduced and the characteristics of federated filters with different structures are compared.Considering the fault-tolerant performance and engineering application,the federated filtering structure without feedback is selected as the information processing structure of various navigation devices.According to the federated filtering algorithm,the multisensor data fusion method based on SINS/GNSS/CNS combination is constructed and the corresponding simulation is carried out to validate the effectiveness of the algorithm.Thirdly,the fault-tolerant and fault-detection problems of the integrated navigation system are studied deeply.The fault detection of the integrated navigation system usually adopts the design method based on Kalman filter.The detection performance depends on the residual sensitivity to fault.The error detection method is designed,and the fault detection module is designed,and the simulation is carried out to verify the effectiveness of the algorithm.In this paper,the residual chi-square test is introduced,and a fault detection algorithm is designed.Simulation results show that the algorithm is effective.Finally,on the basis of the above research,the author designed the PC software of the integrated navigation information system,mainly realized the communication between a variety of navigation equipment and integrated navigation information system through Ethernet,CAN bus and serial port,and navigation data chart display and navigation Data database storage and query function,fault diagnosis module function and navigation equipment configuration function.Through the testing on the standardization platform,the system meets the requirements of the whole design and achieves the expected standard.It has good practicality and important practical significance.