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Research on Information Fusion Technology of SINS/TAN/GPS Integration Nvaigation System

Author: ChenYanLi
Tutor: LiuYing
School: Harbin Engineering University
Course: Navigation,Guidance and Control
Keywords: Integratednavigation Information fusion Federated filter Adaptive information distribution factor Terrain matching
CLC: TP202
Type: Master's thesis
Year: 2011
Downloads: 40
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Abstract


According to the the modern high performance aircraft navigation system’s requirements of high accuracy, high autonomy and high reliability, improving navigation precision through the multi-sensor information fusion has become an inevitable trend. This paper adopts SINS, TAN and GPS to make up integrated navigation system, improves the performance of navigation system by using fuzzy federal Kalman filtering algorithm.Firstly, in order to improve the precision of navigation better, terrain assisted navigated the matching algorithm is studied deeply. Aiming at the limitations of several conventional matching algorithm, the theory of elevation entropy and absolute deviation comprehensive matching is proved by simulation in the paper to choose better terrain assisted navigated the matching algorithm. The precision and speed of this matching method is proved to be better than traditional TERCOM matching method, and it can meet the application requirements of aircraft well.Secondly, Theories of data estimation fusion are detailedly introduced. And diverse data fusion structures in the multi-sensor system are summarized.The Kalman filter-based model is constructed for the data fusion estimation,and the Kalman filter algorithms for different data fusion structures,including centralized, joint and so on,are enumerated. According to the problem of information distribution factor of the original federated Kalman filtering structure cannot automatically adjust the sub-filter precision changes, this paper proposed the improved fuzzy adaptive federated Kalman filter. The real-time change of low filtering precision sub-filter weights and giving periodic feedback to sub-filters improve the filtering precision, balance the fault tolerance and computational speed, and make the simulation experiments of the algorithm. The result proves that this method is better than the standard federal Kalman algorithm.Finally, in the experimental conditions of the laboratory, the realization and design of SINS/TAN/GPS integrated navigation system are finished, according to the application requirement of the aircraft, and the simulation adopts VxWorks operating system, which used the Sorbo company’s PC104 embedded hardware platform. According to the navigation information received from the simulator, the hardware-in-the-loop simulation experiment is finished. Experimental data, further proves the algorithm superiority and the rationality of design.

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