Information Fusion Of An Unmanned Surface Vehicle Integrated Navigation System

In order to build a maritime power and promote the development of marine science and technology,unmanned surface vehicle(USV)research has received extensive attention.As a marine intelligent platform for autonomous navigation control,the integrated navigation system multisensor information fusion technology has become the key to improving the accuracy and reliability of the navigation system.This thesis studies the information fusion of the USV integrated navigation system based on distributed f ltering algorithm,which solves the asynchronous multirate problem and unreliable measurement problem in integrated navigation information fusion,and improves the reliability and accuracy of the integrated navigation system.First,through the strapdown inertial navigation system,the global positioning system,and the electronic compass to form an USV integrated navigation system,and a federated Kalman filter is used for information fusion of the integrated navigation system to solve the effect of local fault interference on the reliability 'of the integrated navigation system.Aiming at the influence of the federal Kalman filter information distribution principle on the filtering accuracy,an optimal adaptive federal Kalman filter algorithm is studied to add adaptability on federal Kalman filter,which represent the information distribution factor by optimal adaptive factor calculation method.The simulation results and comparative analyses verify the reliability and superiority of the optimal adaptive federal Kalman filter used.Then,in order to solve the unreliable measurement problem in the information fusion process of the USV integrated navigation system,a measurement methods is defined by innovative sequence to judge the reliability of measurement information,which reduces the impact of unreliable measurements on navigation accuracy.Aiming at the influence of noise correlation,a local Kalman filter is constructed according to the orthogonal projection theorem,and the optimal distributed fusion algorithm is used to carry out information fusion of integrated navigation system,which achieves high-precision navigation of the USV integrated navigation system.The simulation results and comparative analyses verify the effectiveness and superiority of the information fusion algorithm used.Finally,in order to solve the problem of asynchronous multirate system in the information fusion process of the USV integrated navigation system,the multiscale system model is used to realized the information fusion of the USV integrated navigation asynchronous multirate system,which improves the USV integrated navigation system reliability and accuracy.Aiming at the problem of large calculation amount of cross-covariance between filters under the influence of noise correlation,an optimal distributed fusion algorithm based on covariance crossover is adopted to improve the navigation accuracy after information fusion.The simulation results and comparative analyses verify the effectiveness and superiority of the information fusion algorithm used for asynchronous multirate problems.