Research On Underwater Navigation System Data Fusion Algorithm Based On Multi-scale Theory

Underwater navigation technology is the core issue of intelligent underwater vehicle research.High-precision underwater navigation system is AUV’s key technology.Based on the information fusion architecture of AUV underwater navigation system,this paper introduces the data fusion model of navigation system information fusion,space registration of coordinate system,selection of target motion model and navigation filtering algorithm in details.In the theory of wavelet transform Based on multi-scale system theory and multi-scale system theory,the validity of Kalman filter algorithm in a multi-scale system is verified.Based on this,a multi-model fusion algorithm based on wavelet frequency domain feature is designed.Based on multi-scale theory Kalman nonlinear filtering algorithm,an information fusion algorithm for underwater integrated navigation system is revealed.The research content of this article includes following four aspects: Firstly,the key issues that restrict the development of underwater integrated navigation technology and the characteristics of multi-scale analysis method to solve the dynamic system estimation are described.Secondly,the MKF filter estimation algorithm of AUV underwater integrated navigation system is studied.Then,according to analyze the intrinsic relationship between the conversion algorithm between the fine and fine scales and noise,the MKF filter algorithm is discussed.Based on the multi-scale characteristics of the navigation system,the non-linear filtering estimation method and information fusion strategy in the field of underwater navigation system data fusion are analyzed.Finally,the main multi-scale ensemble Kalman is proposed based on the ensemble Kalman idea.The filtering algorithm and the multi-scale unscented Kalman filter algorithm based on the cut-rate velocity model are verified by simulation calculations.For multi-level navigation system information fusion structure,a multi-scale navigation aided information fusion method is proposed.,verified by simulation Effectiveness analysis algorithm.