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1. WO2020062807 - METHOD FOR APPLICATION OF IMPROVED UNSCENTED KALMAN FILTER ALGORITHM IN UNDERWATER INTEGRATED NAVIGATION

Publication Number WO/2020/062807
Publication Date 02.04.2020
International Application No. PCT/CN2019/079136
International Filing Date 21.03.2019
IPC
G01C 21/20 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
20Instruments for performing navigational calculations
G01C 21/18 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
10by using measurement of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
18Stabilised platforms, e.g. by gyroscope
G01C 21/16 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
10by using measurement of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
CPC
G01C 21/005
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
005with correlation of navigation data from several sources, e.g. map or contour matching
G01C 21/165
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
10by using measurements of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
165combined with non-inertial navigation instruments
G01C 21/18
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
10by using measurements of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
18Stabilised platforms, e.g. by gyroscope
G01C 21/203
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
20Instruments for performing navigational calculations
203Specially adapted for sailing ships
Applicants
  • 东南大学 SOUTHEAST UNIVERSITY [CN]/[CN]
Inventors
  • 徐晓苏 XU, Xiaosu
  • 杨阳 YANG, Yang
  • 袁杰 YUAN, Jie
  • 翁铖铖 WENG, Chengcheng
  • 梁紫依 LIANG, Ziyi
  • 刘兴华 LIU, Xinghua
Agents
  • 南京瑞弘专利商标事务所(普通合伙) NANJING RUIHONG PATENT & TRADEMARK AGENCY (ORDINARY PARTNERSHIP)
Priority Data
201811159410.530.09.2018CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) METHOD FOR APPLICATION OF IMPROVED UNSCENTED KALMAN FILTER ALGORITHM IN UNDERWATER INTEGRATED NAVIGATION
(FR) PROCÉDÉ D'APPLICATION D'UN ALGORITHME DE FILTRE DE KALMAN UNSCENTED AMÉLIORÉ DANS UNE NAVIGATION INTÉGRÉE EN PLONGÉE
(ZH) 改进的无迹卡尔曼滤波算法在水下组合导航中的应用方法
Abstract
(EN)
A method for application of an improved unscented Kalman filter algorithm in underwater integrated navigation, the method comprising: defining a coordinate system to be used; establishing a state equation of an SINS/DVL subsystem in an underwater submarine stage; establishing a measurement equation of the SINS/DVL subsystem in the underwater submarine stage; establishing the state equation of the SINS/GPS subsystem in a water surface position correction stage; establishing a measurement equation of the SINS/GPS subsystem in the water surface position correction stage; and establishing a nonlinear filter equation in the underwater submarine stage. After a period of underwater submarine submersion, an AUV emerges from the water surface, and a non-linear filter equation is established in a water surface position correction stage, an improved unscented Kalman filter solution is conducted, thereby completing a time update, measurement update and filter update, and correcting timing position information. The method can improve the filtering solution efficiency and navigation accuracy of the underwater integrated navigation system, thereby reducing the calculation complexity of a filtering algorithm, and guaranteeing real-time performance and stability.
(FR)
L'invention concerne un procédé d'application d'un algorithme de filtre de Kalman unscented amélioré dans une navigation intégrée en plongée, le procédé comprenant les étapes consistant à : définir un système de coordonnées à utiliser ; établir une équation d'état d'un sous-système SINS/DVL dans une phase sous-marine en plongée ; établir une équation de mesure du sous-système SINS/DVL dans la phase sous-marine en plongée ; établir l'équation d'état du sous-système SINS/GPS dans une phase de correction de position à la surface de l'eau ; établir une équation de mesure du sous-système SINS/GPS dans la phase de correction de position à la surface de l'eau ; et établir une équation de filtre non linéaire dans la phase sous-marine en plongée. Après une période d'immersion sous-marine en plongée, un véhicule sous-marin autonome émerge de la surface de l'eau, et une équation de filtre non linéaire est établie dans une phase de correction de position à la surface de l'eau, une solution de filtre de Kalman unscented améliorée est mise en œuvre, ce qui permet d'achever une mise à jour de l'heure, une mise à jour de mesure et une mise à jour de filtre, et de corriger des informations de position de synchronisation. Le procédé peut améliorer l'efficacité de la solution de filtrage et la précision de navigation du système de navigation intégrée en plongée, ce qui permet de réduire la complexité de calcul d'un algorithme de filtrage et de garantir une performance et une stabilité en temps réel.
(ZH)
一种改进的无迹卡尔曼滤波算法在水下组合导航中的应用方法,包括:对需要用到的坐标系进行定义;建立水下潜航阶段SINS/DVL子系统状态方程;建立水下潜航阶段SINS/DVL子系统量测方程;建立水面位置修正阶段SINS/GPS子系统的状态方程;建立水面位置修正阶段SINS/GPS子系统的量测方程;建立水下潜航阶段的非线性滤波方程,在水下潜航一段时间以后,AUV浮出水面,建立水面位置修正阶段非线性滤波方程,进行改进的无迹卡尔曼滤波解算,完成时间更新、量测更新和滤波更新,完成定时位置信息校正。该方法能够提高水下组合导航系统的滤波解算效率及导航精度,降低了滤波算法计算的复杂程度,保证实时性和稳定性。
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