Research On Ship Multi-source PNT Data Fusion And Evaluation Technology

The vulnerability of Global Navigation Satellite System(GNSS)is one of the important factors affecting navigation safety,and it is also a serious challenge for the rapid development of intelligent ships.Therefore,this paper studies the ship multi-source Positioning,Navigation,and Timing(PNT)data fusion and evaluation technology,and provides an effective solution to solve the GNSS vulnerability problem.Based on the research of multi-source PNT theoretical framework model,this paper focuses on multi-source PNT data fusion algorithm and multi-source PNT data evaluation model.Data fusion is mainly divided into two parts:preprocessing and fusion.The preprocessing part mainly focuses on the problem that the existing time registration algorithm has poor real-time performance and low precision.A time registration algorithm based on Extended Kalman Filter(EKF)is proposed,which is compared with the registration error of the extrapolation algorithm,the validity of the EKF registration algorithm is verified.At the same time,this paper proposes a PNT weighted fusion algorithm based on variance genetics,and designs a fusion simulation experiment under single data source failure and multi-data source failure scenarios to verify the accuracy and anti-interference ability of the algorithm.The results show that the proposed algorithm has strong anti-interference ability for a variety of PNT interference sources,and the fusion result has high precision.This paper further studies the multi-source PNT data evaluation model and analyzes the factors affecting the integrity of PNT data,including rationality,consistency and accuracy.Research and establish a two-level integrity evaluation model based on Analytic Hierarchy Process(AHP)and Fuzzy Comprehensive Evaluation(FCE).Finally,the availability of the integrity assessment model is demonstrated using actual data.Based on the above theoretical research,this paper designs and implements multi-source PNT system and conducts it as a part of the integrated bridge system.The test results show that the system can effectively output PNT data containing integrity information in real time,and solve the problem of data unreliability caused by GNSS vulnerability.