公开(公告)号：US20220326016A1

公开(公告)日：2022-10-13

申请号：US17843451

申请日：2022-06-17

申请人： Harbin Engineering University

发明人： Yuxin Zhao ,  Bo Xu ,  Yu Guo ,  Lei Wu ,  Junmiao Hu ,  Chong Chen ,  Lianzhao Wang ,  Shengxin Li ,  Xiaoyu Wang ,  Zhaoyang Wang

IPC分类号： G01C21/16

摘要： The disclosure belongs to the technical field of integrated navigation under non-ideal conditions, and in particular relates to a robust filtering method for integrated navigation based on a statistical similarity measure (SSM). In view of the situation that there are normal beam measurement information of the DVL and beam measurement information with a large error simultaneously in a SINS/DVL tightly integrated system, and aiming at the problem that the existing robust filters of an integrated navigation system process the measurement information in a rough manner and are likely to lead to loss of normal measurement information, the disclosure proposes a novel robust filtering method based on decomposition of multi-dimensional measurement equations and the SSM. The disclosure introduces the SSM theory while decomposing the multi-dimensional measurement equations of the SINS/DVL tightly integrated navigation system, and assists the measurement noise variance of each beam to complete respective adaptive update in case of a large measurement error, finally ensuring independence of processing of the measurement information of each beam. The disclosure can be used in the field of integrated navigation of underwater vehicles under non-ideal conditions.

公开(公告)号：US11313698B2

公开(公告)日：2022-04-26

申请号：US16922241

申请日：2020-07-07

申请人： Harbin Engineering University

发明人： Bo Xu ,  Lianzhao Wang ,  Lei Wu ,  Shengxin Li ,  Jiao Zhang ,  Kunming Jin ,  Yu Guo ,  Dalong Zhang

IPC分类号： G01C25/00 ,  G01C21/16

摘要： The invention provides a method for initial alignment of radar assisted airborne strapdown inertial navigation system. By calculating the slant distance and angular position between the radar and the airborne inertial navigation equipment, a nonlinear measurement equation for the initial alignment of the radar assisted inertial navigation system is obtained. The unscented Kalman filter algorithm is used to estimate and compensate the error amount of strapdown inertial navigation system to complete the initial alignment task. The significance of the present invention is to provide an in-flight initial alignment solution when the global positioning system is limited, which has fast convergence speed and high estimation accuracy and has high engineering application value.

公开(公告)号：US12104908B2

公开(公告)日：2024-10-01

申请号：US17843451

申请日：2022-06-17

申请人： Harbin Engineering University

发明人： Yuxin Zhao ,  Bo Xu ,  Yu Guo ,  Lei Wu ,  Junmiao Hu ,  Chong Chen ,  Lianzhao Wang ,  Shengxin Li ,  Xiaoyu Wang ,  Zhaoyang Wang

IPC分类号： G01C21/16

CPC分类号： G01C21/1652

摘要： The disclosure belongs to the technical field of integrated navigation under non-ideal conditions, and in particular relates to a robust filtering method for integrated navigation based on a statistical similarity measure (SSM). In view of the situation that there are normal beam measurement information of the DVL and beam measurement information with a large error simultaneously in a SINS/DVL tightly integrated system, and aiming at the problem that the existing robust filters of an integrated navigation system process the measurement information in a rough manner and are likely to lead to loss of normal measurement information, the disclosure proposes a novel robust filtering method based on decomposition of multi-dimensional measurement equations and the SSM. The disclosure introduces the SSM theory while decomposing the multi-dimensional measurement equations of the SINS/DVL tightly integrated navigation system, and assists the measurement noise variance of each beam to complete respective adaptive update in case of a large measurement error, finally ensuring independence of processing of the measurement information of each beam. The disclosure can be used in the field of integrated navigation of underwater vehicles under non-ideal conditions.

公开(公告)号：US20210080287A1

公开(公告)日：2021-03-18

申请号：US16922241

申请日：2020-07-07

申请人： Harbin Engineering University

发明人： Bo Xu ,  Lianzhao Wang ,  Lei Wu ,  Shengxin Li ,  Jiao Zhang ,  Kunming Jin ,  Yu Guo ,  Dalong Zhang

IPC分类号： G01C25/00 ,  G01C21/16

摘要： The invention provides a method for initial alignment of radar assisted airborne strapdown inertial navigation system. By calculating the slant distance and angular position between the radar and the airborne inertial navigation equipment, a nonlinear measurement equation for the initial alignment of the radar assisted inertial navigation system is obtained. The unscented Kalman filter algorithm is used to estimate and compensate the error amount of strapdown inertial navigation system to complete the initial alignment task. The significance of the present invention is to provide an in-flight initial alignment solution when the global positioning system is limited, which has fast convergence speed and high estimation accuracy and has high engineering application value.