Research On All-source Navigation Information Fusion Algorithm Based On Factor Grap

With the rapid expansion of technology,the application of navigation system has been more and more widely,especially when it comes to the military field.However,the satellite navigation system is vulnerable to environmental interference,which affects the positioning and navigation effect.At the same time,in order to solve the problem that the traditional integrated navigation system can not adapt to the environment and the continuous change of the connected sensor set,the all source navigation technology based on the traditional multisource fusion navigation system is analyzed and studied.all source positioning and navigation system is a new navigation system that can meet the changing environmental conditions and task requirements,and realize system online configuration,rapid reconfiguration and plug and play.It has high research significance and value.Based on a national key project and taking all source navigation technology as the object,this paper studies the system scheme of all source navigation,information fusion algorithm based on factor graph framework and fault detection.The main work of this paper is:Firstly,the paper studies the working principle of strapdown inertial navigation system,introduces the common navigation coordinate system and the conversion relationship between them,as well as the calculation principle of attitude,speed and position of strapdown inertial navigation system,deduces the specific calculation steps,and then analyzes the error propagation equation of strapdown inertial navigation system in detail.Then,the overall scheme of the all source positioning and navigation system are sorted and described,from software and haraware level,the specific composition of the system architecture of the all source navigation system is introduced,and the complex environment and work requirements faced by the all source navigation system are analyzed,as well as the technical breakthrough and work content to be realized based on this background.At the same time,the principle of multiple navigation sensors including barometric altimeter,odometer and magnetic compass,is introduced.In the face of the complex and varied working environment of all source navigation system,the simultaneous interpreting of different sensors is prone to failure and the reliability of navigation results is affected.Aiming at the lag of residual algorithm in soft fault detection,improved residual detection and vector-based detection algorithms are studied.Finally,three fault detection algorithms are implemented through hardware in the loop simulation experiments,which verifies the more effective detection effect of the improved algorithm,so as to make whole system more reliable.