Research On Adaptive Federated Rate Wave Integrated Navigation Algorithm

The ever-growing need for high-precision and dependability in navigation and positioning is being met by the swift advancement of the latest information technology.Unfortunately,due to its inherent restrictions,no single navigation system can satisfy the performance needs of contemporary navigation systems.The field of navigation and positioning research and development has become a fervent focus due to the potential for learning from one another and taking full advantage of the benefits of various navigation subsystems in integrated navigation systems.The inertial/GPS/ADS/MG integrated navigation system combines the advantages of the four navigation systems and is a navigation mode with superior performance,strong stability and high security.Federated filter,a novel information fusion technology,has become the primary method of information fusion in integrated navigation systems due to its flexibility,fault tolerance,and ability to avoid the complexity of multidimensional matrix calculation in traditional Kalman centralized filters.This technology is able to effectively utilize the measurement information of each sensor,resulting in superior measurement results than single navigation methods.Gradually,the SINS has become the primary information fusion approach for integrated navigation systems.This paper looks to the SINS as a reference system,and investigates the adaptive vector federated filtering algorithm and fuzzy adaptive federated filtering algorithm of SINS/GPS/ADS/MG integrated navigation systems to enhance positioning performance.The main research topics of this paper are:1)This paper initially introduces the fundamental theory of integrated navigation systems.Subsequently,it examines the working principle and error model of inertial navigation systems,deducing the Kalman filter,fading filter,and federated filter theories,which serve as a theoretical basis for the design of federated filters.Additionally,errors of global satellite navigation,atmospheric data,and heading/attitude systems are examined and presented.2)The integrated navigation algorithm is studied from the aspect of fuzzy function.Due to the complexity of the practical application environment,the statistical characteristics of measurement noise in the integrated navigation mathematical model change over time.A fuzzy inference based adaptive federated filtering integrated navigation algorithm is proposed.The filtering performance is evaluated by monitoring the ratio of the measured variance of the residual to the theoretical variance obtained by filtering.When the filter performance is poor,an appropriate adjustment value is obtained to improve the performance of the filter and optimize its estimation.On this basis,the information allocation factor is used to weight the output of each sub filter and main filter to obtain the global output of the filter.3)The working system equations of SINS/GPS/ADS/MG integrated navigation system with the northeast sky coordinate system as the navigation system are constructed.An adaptive federated filtering algorithm is submitted to increase the positioning precision of the integrated navigation system,and the mathematical models of SINS/GPS,SINS/MG and SINS/ADS integrated navigation subsystems are analyzed,yielding their state equations and measurement equations.Subsequently,the three subsystems are simulated and the filtering results are obtained.