Research On Information Fusion Algorithm Based On SINS/BDS/GPS Integrated Navigation

With the rapid development of today's society,modern UAV aircraft have placed increasingly high demands on the accuracy and reliability of navigation systems.Integrated navigation has become an inevitable trend of navigation technology,and filtering algorithm is the key technology to realize integrated navigation.High-precision,high-performance filtering solutions can effectively improve the accuracy of integrated navigation systems.To this end,the research on high-precision filtering algorithms for integrated navigation systems is an important and urgent task in the field of information engineering and control.This will also become one of the main directions of future positioning navigation technology research.In this paper,the UAV is used as the carrier and the inertial navigation system is used as the reference system.Based on the information fusion theory,SINS(Strapdown Inertial Navigation System)/ Beidou / GPS(Global Positioning System)The application of the federal filtering algorithm and the fault detection technology method in the three-system integrated navigation has made research,discussion and simulation verification.The EKF and UKF of the existing combined navigation nonlinear filtering algorithm are deeply studied and compared,and the strong tracking unscented Kalman filter algorithm(STUKF)based on the standard unscented Kalman filter algorithm(UKF)is applied to this paper.In the integrated navigation system,the superior performance of STUKF in the combined navigation data fusion filtering process is obtained through simulation results.In addition,for the soft faults and hard faults of subsystem data in the SINS?BDS?GPS integrated navigation system,the fuzzy adaptive residual algorithm and the improved SPRT(Sequential Probability Ratio Test)joint algorithm are used to filter the residuals.Perform fault detection.The simulation results show that the scheme can detect the fault source and isolate the faulty part when the fault occurs during the sub-filter running over-travel,complete the reconstruction of the system,and ensure the positioning accuracy of the system in this paper to a certain extent.Improve the reliability of the system.